Joachim "Achim" Hall is a German puppeteer who since 1989 has performed Rumpel on Sesamstrasse, the German version of Sesame Street.

A trained actor, Hall also worked on the classic German puppet series Hallo Spencer, performing Spencer and Lexi, and was heard in the German version of the video game Realms of Arkania III: Shadows Over Riva.

Hall with Rumpel at the anniversary exhibition 40 Jahre Sesamstrasse in Berlin in April 2013