The Germany international has joined Forest in a permanent deal, signing a short-term contract to the end of June.
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Forest's Global Head of Football, Edu Gaspar, said: “Stefan arrives here with fantastic experience and a winning mentality, having been part of such a successful team for the past few seasons.
“When it became clear the goalkeeper position was somewhere we needed to address, Stefan stood out straight away.
"He will provide great competition for our group of goalkeepers, and will help the team on and off the pitch.”