The field of Cyber Physical System security is increasingly critical due to the growing threat of cyberattacks, as demonstrated by several major incidents in recent years. Stealth False Data Injection Attacks, capable of compromising system integrity without being detected, pose a particularly severe threat. Despite these risks, security remains overlooked by the industry. One key challenge is the difficulty of devising defensive methods that do not interfere with the system’s primary task. This paper proposes a novel defense method that leverages the null space motion of kinematically redundant manipulators to mitigate the impact of stealth False Data Injection Attacks by delaying them. It investigates the extent to which the proposed method can impede a stealth attacker’s progress toward their goals. To evaluate the effectiveness of the proposed method, a discrete-time dynamic model was developed in MATLAB and simulated exclusively under attack scenarios. The simulations indicate a reduction in the effectiveness of a greedy stealth measurement False Data Injection Attack when the proposed defense was applied. However, due to limited testing, the full capabilities of the method remain unclear, particularly in terms of its potential interference with the system’s primary task. Accordingly, it contributes a novel defense concept to the Cyber Physical Systems security domain and presents initial simulation-based insights into its potential. As a proof of concept, the approach suggests a new direction for research on enhancing resilience against stealth attacks in compromised systems.