diff --git a/march_rqt_input_device/resource/input_device.ui b/march_rqt_input_device/resource/input_device.ui
index 494b60a..3b5f9a7 100644
--- a/march_rqt_input_device/resource/input_device.ui
+++ b/march_rqt_input_device/resource/input_device.ui
@@ -52,16 +52,6 @@
        </property>
       </widget>
      </item>
-     <item>
-      <widget class="QPushButton" name="refresh_button">
-       <property name="toolTip">
-        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Refreshes the buttons with possible gaits&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
-       <property name="text">
-        <string>Refresh</string>
-       </property>
-      </widget>
-     </item>
     </layout>
    </item>
    <item>
diff --git a/march_rqt_input_device/src/march_rqt_input_device/input_device_view.py b/march_rqt_input_device/src/march_rqt_input_device/input_device_view.py
index b9125c8..9f456d4 100644
--- a/march_rqt_input_device/src/march_rqt_input_device/input_device_view.py
+++ b/march_rqt_input_device/src/march_rqt_input_device/input_device_view.py
@@ -1,7 +1,7 @@
 import os
 
 from python_qt_binding import loadUi
-from python_qt_binding.QtCore import QSize
+from python_qt_binding.QtCore import QMutex, QSize, QTimer
 from python_qt_binding.QtWidgets import QGridLayout
 from python_qt_binding.QtWidgets import QPushButton
 from python_qt_binding.QtWidgets import QWidget
@@ -32,7 +32,8 @@ def __init__(self, ui_file, controller):
         # Extend the widget with all attributes and children from UI file
         loadUi(ui_file, self)
 
-        self.refresh_button.clicked.connect(self._update_possible_gaits)
+        self._update_gaits_mutex = QMutex()
+        self._start_possible_gaits_refresh_timer()
 
         self._create_buttons()
         self._update_possible_gaits()
@@ -325,7 +326,13 @@ def _rejected_cb(self):
     def _current_gait_cb(self, gait_name):
         self.gait_label.setText(gait_name)
 
+    def _start_possible_gaits_refresh_timer(self):
+        self._gaits_timer = QTimer(self)
+        self._gaits_timer.timeout.connect(self._update_possible_gaits)
+        self._gaits_timer.start(500)
+
     def _update_possible_gaits(self):
+        self._update_gaits_mutex.lock()
         self.frame.setEnabled(False)
         self.frame.verticalScrollBar().setEnabled(False)
         possible_gaits = self._controller.get_possible_gaits()
@@ -343,6 +350,7 @@ def _update_possible_gaits(self):
                     button.setEnabled(False)
         self.frame.setEnabled(True)
         self.frame.verticalScrollBar().setEnabled(True)
+        self._update_gaits_mutex.unlock()
 
     def create_button(self, name, callback=None, image_path=None, size=(128, 160), always_enabled=False):
         """Create a push button which the mock input device can register.