Soft Robotics

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21 papers in the last four weeks, up 133% on the four weeks before. 0.2% of all new papers.

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  1. Programmable magnetic soft robots with controlled locomotion and directional liquid cargo release

    Jun 19, 2026Youyi Zhou, Zoe Evelyn Gureno, Meghna Majumder +1RoboticsRobot Locomotion

    Bio-integrated Robotics Lab at Mechanical Engineering Department, University of Wisconsin - Madison, Madison, WI 53706 USA · Biomedical Engineering Department, University of Wisconsin - Madison, Madison, WI 53706 USA · Carbone Cancer Center, University of Wisconsin - Madison, Madison, WI 53706 USA

  2. Shape-programmable Magnetic Soft Membranes for Mechanically Active Microchannels

    Jun 19, 2026Direnc Akyildiz, Fatih Kocabas, Xiangyi Tan +1Soft Robotics

    Bio-integrated Robotics Lab at Mechanical Engineering Department, University of Wisconsin -Madison, Madison, WI 53706 USA · Department of Electronic and Electrical Engineering, University College London, London, WC1E 7JE UK · Biomedical Engineering Department, University of Wisconsin - Madison, Madison, WI 53706 USA +1

  3. Learning-Based Modeling of Soft Robots via Cosserat Rod Theory

    Jun 18, 2026Mohammad Ali, Nithin Senthur Kumar, Eric J. Barth +1Dynamical SystemsPort-Hamiltonian Systems

    Department of Computer Science, Vanderbilt University, Nashville, TN 37235, USA · Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA

  4. Belt-Finger: An Affordable Soft Belt-Driven Gripper for Dexterous In-Hand Manipulation

    Jun 18, 2026Boya Zhang, Andreas Zell, Georg MartiusRobotic GraspingDexterous Manipulation

    Department of Computer Science, University of Tübingen, Germany · 2Max Planck Institute for Intelligent Systems, Germany

  5. Shape Sensing of Continuum Robots using Direct Laser Writing

    Jun 17, 2026Amber K. Rothe, Nidhi Malhotra, Jaydev P. DesaiContinuum Robot ControlSoft Robotics

    Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 USA

  6. Selective Unit-Cell Actuation in Lattice Structures for Distributed Morphology in Soft Robots

    Jun 17, 2026Trevor Exley, Altair Coutinho, Lucia BeccaiSoft Robotics

    Soft BioRobotics Perception Lab of the Istituto Italiano di Tecnologia (IIT), Genova 16163, Italy

  7. Damage Adaptation in Seconds for Architected Materials

    Jun 16, 2026James Avtges, Jake Ketchum, Helena Young +3Adaptive LearningSoft Robotics

    Northwestern University, Evanston, IL, USA

  8. TO-SoFiT: Topology Optimization of Hydraulic Soft Fish Tail Design for programmable undulating locomotion

    Jun 14, 2026A Padmaprabhan, Amal Shaji, Prabhat KumarTopology OptimizationUnderwater Robotics

    Indian Institute of Technology Hyderabad Telangana, 502285, India

  9. Learning Control as Enabling Layer for Embodied Intelligence Research explored with Soft Robotic Swimming in diverse Flow Speeds

    Jun 9, 2026Fabian Schwab, Federico Allione, Bingcheng Wang +5Robotic ControlRobust Control

    1Engineering Sciences Department, Swiss Federal Laboratories for Materials Science and Technology, Switzerland · Institute for NeuroInformatics, University of Zurich, Switzerland · Department of Electronic Engineering, University of Rome Tor Vergata, Italy

  10. Model-based Optimization of Anguilliform Swimming Gaits for Soft Robotic Applications

    Jun 9, 2026Brian Van Stratum, James Gallentine, Caleb Rucker +3Robot LocomotionUnderwater Robotics

    FAMU/FSU College of Engineering, Tallahassee, FL 323109 · Mechanical Engineering, Vanderbilt University, Nashville Tennessee 37235 · Mechanical Engineering, The University of Tennessee, Knoxville, Tennessee 37996

  11. Reinforcement learning in linear embedding space unlocks generalizable control across soft robot configurations

    Jun 6, 2026Xinglong Zhang, Cong Li, Hangjie Mo +13Robotic ControlRL for Robotics

    College of Intelligence Science and Technology, National University of Defense Technology, Deya Road, Changsha, 410003, Hunan, China. · School of Management, Hefei University of Technology, Nanyihuan Road, Hefei, 230002,2026 Anhui, China. · State Key NanjingLaboratoryUniversityfor Novel(SuzhouSoftwareCampus),TechnologyTaihuandRoad,the Suzhou,School of215163,ScienceChina.and Technology, 4School of Computation, Information and Technology, Technical University of Munich, Boltzmann Strasse, Munich, 85748, Germany. +5

  12. Compliance-Based Sensor Placement for Force Sensing on a Sensorized Prostate Phantom

    Jun 5, 2026Sizhe Tian, Yinoussa Adagolodjo, Jeremie DequidtTactile SensingSoft Robotics

    CRIStAL, DEFROST · Inria, CNRS, Centrale Lille, UMR 9189 CRIStAL, University of Lille, Lille, France. · CRIStAL, Polytech Lille, DEFROST

  13. Three-dimensional hydro-cluttered locomotion by an undulatory robot

    Jun 5, 2026Tianyu Wang, Matthew Fernandez, Galen Tunnicliffe +10Robot LocomotionUnderwater Robotics

    Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA 30332, USA. · School of Physics, Georgia Institute of Technology, Atlanta, GA 30332, USA. · George W. WoodruffSchool of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA. +3

  14. Gotta Grow Fast: Design and Benchmarking of a Tip Mount for High-Speed Vine Robots

    Jun 4, 2026Antonio Alvarez Valdivia, Robert Reeve, Ankush Dhawan +4RoboticsSoft Robotics

    Lincoln Laboratory, Massachusetts Institute of Technology, Lexington, Massachusetts, USA

  15. SoftPINCH: EMG-Driven Soft Exoskeleton Assistance for Finger Flexion and Grasping

    Jun 3, 2026Nicklas Nikolaj Grønvall, Magnus Malthe Sigsgaard Nielsen, Xiaofeng Xiong +1EMG-Based Gesture RecognitionRobotic Grasping

    SDU Soft Robotics, The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark

  16. Optimal Design and Analytical Modeling of a Soft Fin-Ray Effect Gripper Finger Using the Finite Rigid Elements Method

    Jun 2, 2026Sara Adeli, Hassan SayyaadiRobotic GraspingAgricultural Robotics

    Mechanical Engineering Department at Sharif University of Technology, Tehran, Iran

  17. Toward Gripper-Integrated Active Electrosense for Pre-Contact Sensing in Underwater Soft Grippers

    Jun 2, 2026Ahsan Tanveer, Muhammad Hamza, Waqar Hussain Afridi +2Active SensingRobotic Manipulation

    Intelligent Biomimetic Design Lab, School of Advanced Manufacturing and Robotics, and with the State Key Laboratory for Turbulence and Complex Systems, College of Engineering, Peking University, Beijing 100871, China · National Engineering Research Center of Software Engineering, Peking University, Beijing 100871, China · Institute of Ocean Research, Peking University, Beijing 100871, China

  18. Improved Postural Stability Using a Lightweight Semi-Active Soft Back Support Device Under Standing Perturbations

    Jun 1, 2026Rohan Khatavkar, Jiefeng Sun, Hyunglae LeeRoboticsAssistive Robotics

    The authors are with the School for Engineering of Matter, Transport and Energy, Tempe, AZ 85287, USA.

  19. A passive universal grasping mechanism based on an everting shell

    May 30, 2026Mythra V. S. Balakuntala, Safvan Palathingal, G. K. AnanthasureshRobotic GraspingSoft Robotics

    Indian Institute of Science, Bengaluru, India

  20. Literary Emotions in Motion: A Soft Robotics Installation for Tactile Storytelling

    May 29, 2026Carolina Silva-Plata, Abraham Villavicencio-Carmona, Miguel Silva Plata +2Interactive StorytellingHaptic Feedback

    Department of Mechanical Engineering, University of Chile, Santiago, Chile. · Independent Researcher, Santiago, Chile. · Bolivian Catholic University, La Paz, Bolivia. +1

  21. SoFiE: Soft Finger Exoskeleton for Intelligent Grasping

    May 29, 2026Magnus Malthe Sigsgaard Nielsen, Nicklas Nikolaj Grønvall, Xiaofeng Xiong +1Robotic GraspingTactile Sensing

    SDU Soft Robotics, SDU Biorobotics, The Maersk Mc-Kinney Moller Institute, University of Southern Denmark (SDU), 5230 Odense M, Denmark

  22. Cuttlebot: a platform demonstration for complex, autonomous, bio-inspired swimmers

    May 29, 2026Alexander Nicholas White, Ang Leo Li, Alexander Yin +5Robot LocomotionUnderwater Robotics

    School of Mechanical, Aerospace, and Manufacturing Engineering, University of Connecticut; Storrs, CT, U.S.A. · Department of Mechanical and Industrial Engineering, University of Toronto; Toronto, Ontario, Canada. · University of Connecticut, Institute of Materials Science; Storrs, CT, U.S.A. +1

  23. Magnet-Based Soft Robotic Skin Using a 3D-Printed Multi-Lattice Structure and CNN-Based Tactile Super-Resolution

    May 27, 2026Yunseong Bang, Joowon Park, Suan Sim +3Tactile SensingRobotic Tactile Sensing

    Department of Robotics and Mechatronics Engineering, DGIST (Daegu Gyeongbuk Institute of Science and Technology), 42988 Daegu, Republic of Korea · Department of Electrical, Electronic and Computer Engineering, University of Ulsan, 93 Daehak-ro, Nam-gu, 44610 Ulsan, Republic of Korea

  24. A Bioinspired Underwater Robot with a Latch-Mediated Soft Bistable Mechanism

    May 26, 2026Chongze Bi, Wenjie Wu, Zonghao Zuo +1Mechanism DesignUnderwater Robotics

    School of Mechanical Engineering and Automation, Beihang University

  25. HoLoArm: Deformable Arms for Collision-Tolerant Quadrotor Flight

    May 25, 2026Quang Ngoc Pham, Jonas Eschmann, Yang Zhou +3Aerial RoboticsQuadrotor Control

    Japan Advanced Institute of Science and Technology (JAIST), Ishikawa, 923-1292 Japan · University of California Berkeley, Department of Electrical Engineering and Computer Sciences, Berkeley, CA 94720, USA · New York University, Tandon School of Engineering, Brooklyn, NY 11201, USA

  26. Soft Pneumatic Actuators for Soft Robotics: A Motion-Based Review of Actuation Mechanisms and Performance Trade-offs

    May 24, 2026Mohammed AbboodiSoft Robotics

  27. Learning, locomotion, and navigation of soft synthetic snakes in three-dimensional, heterogeneous environments

    May 24, 2026Xiaotian Zhang, Ali Albazroun, Tixian Wang +3RL for RoboticsRobotics Simulation

    Carl R. Woese Institute for Genomic Biology, University of Illinois Urbana–Champaign · Department of Mechanical and Aerospace Engineering, Hong Kong University of Science and Technology · Department of Mechanical Science and Engineering, University of Illinois Urbana–Champaign

  28. Analytical and Experimental Force Analysis of a Soft Linear Pneumatic Actuator

    May 21, 2026Mohammed AbboodiSoft Robotics

  29. Modeling and Control of a Pneumatic Morphing Soft Quadrotor based on the SOFA Framework for Dynamic Soft Robotic Simulation

    May 20, 2026F. Labra Caso, V. Sumathy, P. Ferrentino +3Aerial RoboticsRobotics Simulation

    Robotics & AI Luleå University of Technology · IMEC Center VUB Brussels University

  30. Fault-Tolerant, Rigidity-Preserving Control of Inflatable Truss Robots

    May 19, 2026James Wade, Isaac Weaver, Mihai Stanciu +1Robot Trajectory TrackingRobust Control

    Ira A. Fulton College of Engineering, Mechanical Engineering Department, Brigham Young University, Provo, Utah, USA

  31. Topology-Optimized Pneumatic Soft Actuator: Design and Experimental Validation

    May 19, 2026Sumit Mehta, Konstantinos PouliosTopology OptimizationSoft Robotics

    Department of Civil and Mechanical Engineering Technical University of Denmark, Denmark

  32. Terrestrial Soft Mobile Robots: A Review

    May 19, 2026Dimuthu D. K. ArachchigeRobotic ControlMobile Robotics

    School of Computing, DePaul University, Chicago, IL, USA · Department of Computer Science, Hampton University, Hampton, VA, USA

  33. Data-Driven Dynamic Modeling of a Tendon-Actuated Continuum Robot

    May 18, 2026Harald Minde Hansen, Bjørn Kåre Sæbø, Kristin Y. Pettersen +2Robot Dynamics IdentificationNonlinear System Identification

    European Organization for Nuclear Research (CERN), Switzerland · Department of Engineering Cybernetics, Norwegian University of Science and Technology, NTNU, NO-7491 Trondheim, Norway

  34. ManiSoft: Towards Vision-Language Manipulation for Soft Continuum Robotics

    May 18, 2026Ziyu Wei, Luting Wang, Chen Gao +2Language-Conditioned Robot ManipulationRobotic RL

    Beihang University · Hangzhou Innovation Institute, Beihang University · National University of Singapore

  35. Bidirectional Optical sensors for Actuation Tracking (BOAT) in soft lattice systems

    May 18, 2026Petr Trunin, Carolina Gay, Anderson Brazil Nardin +3Soft Robotics

  36. A Dexterous and Compliant Gripper With Soft Hydraulic Actuation for Microgravity Manipulation

    May 18, 2026William Su, Jordan Kam, Yixiao Wang +1Dexterous ManipulationSpace Robotics

    Aerospace Engineering Program, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, National University of Singapore, Singapore 117575.

  37. Design of Magnetic Continuum Robots with Tunable Force Response Using Rotational Ring Pairs

    May 13, 2026Alex Sayres, Giovanni PittiglioContinuum Robot ControlSoft Robotics

    FuTURE Lab, Department of Robotics Engineering, Worcester Polytechnic Insitute (WPI), Worcester, MA 01605, USA

  38. BiPneu: Design and Control of a Bipolar-Pressure Pneumatic System for Soft Robots

    May 12, 2026Yu Mei, Xinyu Zhou, Vedant Naik +2Robotic ControlRobust Control

    Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824, USA

  39. Introducing Environmental Constraints to Grasping Strategies for Paper-Like Flexible Materials Using a Soft Gripper

    May 12, 2026Yi Dong, Yang Li, Jinjun Duan +1Robotic GraspingDeformable Object Manipulation

    College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing, 211106, Jiangsu, China. · Jiangsu Key Laboratory of Bionic Materials and Equipment, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing, 211106, Jiangsu, China.

  40. Continuum Robot Modeling with Action Conditioned Flow Matching

    May 9, 2026Jiong Lin, Jinchen Ruan, Hod Lipson3D Shape GenerationPoint Cloud Generation

    Department of Mechanical Engineering, Columbia University, New York, NY, USA

  41. Cycle-resolved Cephalopod-Inspired Pulsed-Jet Robot With High-Volume Expulsion and Drag-Reduced Gliding

    May 7, 2026Yiyuan Zhang, Anye Zhong, Junkai Chen +1RoboticsRobot Locomotion

    Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore · Advanced Robotics Centre, National University of Singapore, Singapore · Singapore-MIT Alliance for Research and Technology Centre, Singapore

  42. 3D Printing of Passively Actuated Self-Folding Robots with Integrated Functional Modules

    May 6, 2026Gaolin Ge, Qifeng Yang, Haoran Lu +3Modular RoboticsRobotics

    Mechanical Engineering, University of Washington, Seattle, WA, USA. · Electrical & Computer Engineering, University of Washington, Seattle, WA, USA. · Computer Science and Engineering, University of Notre Dame, Notre Dame, IN, USA. +1

  43. Quasi-Static Control of Discrete Cosserat Rod

    May 2, 2026Srishti Siddharth, Domenico Campolo, Ravi BanavarRobot Trajectory TrackingFeedback Control

    Centre for Systems and Control Indian Institute of Technology Bombay Mumbai, India · School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore

  44. Topology-Driven Anti-Entanglement Control for Soft Robots

    May 1, 2026Haoyang Le, Shengxuan Wang, Mohan Chen +1Multi-Robot CoordinationSoft Robotics

    School of Mathematics and Statistics, Zhengzhou University, No. 100 Science Avenue, Zhengzhou, 450001, Henan, China · School of Computer Science and Artificial Intelligence, Zhengzhou University, No. 100 Science Avenue, Zhengzhou, 450001, Henan, China · College of Information Engineering, North China University of Water Resources and Electric Power, No. 136 Jinshui East Road, Jinshui District, Zhengzhou, 450046, Henan, China

  45. A Model-based Visual Contact Localization and Force Sensing System for Compliant Robotic Grippers

    May 1, 2026Kaiwen Zuo, Shuyuan Yang, Zonghe ChuaRobotic GraspingRobotic Manipulation

    Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH 44106, USA

  46. Stochastic Entanglement of Deterministic Origami Tentacles For Universal Robotic Gripping

    Apr 29, 2026Alec Boron, Bokun Zheng, Ziyang Zhou +2Robotic GraspingRobotics

    Department of Mechanical Engineering, Virginia Tech, VA, USA

  47. Improving Sensing Coverage and Compliance of 3D-Printed Artificial Skins Through Multi-Modal Sensing and Soft Materials

    Apr 28, 2026Carson Kohlbrenner, Caleb Escobedo, Sayak Ray +5Robotic Tactile SensingSoft Robotics

    Human Interaction and Robotics [HIRO] Group, University of Colorado Boulder, 1111 Engineering Drive, Boulder, CO USA.

  48. A Compact Peristaltic Pump Based on Magneto-Elastic Hysteresis with Single Pneumatic Control

    Apr 23, 2026Minjo Park, Metin SittiSoft Robotics

    Max Planck Institute for Intelligent System, 70569 Stuttgart, Germany · School of Medicine and College of Engineering, Kocſ University, İstanbul, Rumelifeneri Yolu 34450, Türkiye

  49. Muscle-inspired magnetic actuators that push, pull, crawl, and grasp

    Apr 20, 2026Muhammad Bilal Khan, Florian Hofmann, Kilian Schäfer +2Robotic GraspingAdditive Manufacturing

    1Functional Materials, Institute of Materials Science, Technical University of Darmstadt, 64287 Darmstadt, Germany · 2Additive Manufacturing Center, Technical University of Darmstadt, 64289 Darmstadt, Germany

  50. Modeling, Control and Self-sensing of Dielectric Elastomer Soft Actuators: A Review

    Apr 19, 2026Y. Zhao, G. MengSoft Robotics

    School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China · State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

  51. A Reconfigurable Pneumatic Joint Enabling Localized Selective Stiffening and Shape Locking in Vine-Inspired Robots

    Apr 17, 2026Ayodele James Oyejide, Ustaz A. Yaqub, Samir Erturk +2RoboticsSoft Robotics

    Department of Electrical and Electronics Engineering, Kadir Has University, Cibali, Istanbul, Türkiye · Department of Computer Engineering, Kadir Has University, Cibali, Istanbul, Türkiye · Department of Mechatronics Engineering, Istanbul Bilgi University, Istanbul, Türkiye

  52. Tendon-Actuated Robots with a Tapered, Flexible Polymer Backbone: Design, Fabrication, and Modeling

    Mar 19, 2026Harald Minde Hansen, Nandita Gallacher, Nicholas B. Andrews +3Continuum Robot ControlTendon-Driven Actuation

    Mechatronics, Robotics and Operation Section, European Organization for Nuclear Research (CERN), Meyrin, Switzerland · Department of Aeronautics and Astronautics, University of Washington, Seattle, WA, USA · Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway

  53. Octopus-inspired Distributed Control for Soft Robotic Arms: A Graph Neural Network-Based Attention Policy with Environmental Interaction

    Mar 10, 2026Linxin Hou, Qirui Wu, Zhihang Qin +2Continuum Robot ControlDecentralized MARL

    Department of Electrical and Computer Engineering, National University of Singapore, Singapore · Department of Computer Science, National University of Singapore, Singapore · Department of Mechanical Engineering, National University of Singapore, Singapore +2

  54. Receptogenesis in a Vascularized Robotic Embodiment

    Mar 10, 2026Kadri-Ann Pankratov, Leonid Zinatullin, Hans Priks +6RoboticsSoft Robotics

    Institute of Technology, University of Tartu, Nooruse 1, 50411 Tartu, Estonia · Institute of Technology, Via Morego, 30, 16163 Genova, Italy

  55. Unified Structural-Hydrodynamic Modeling of Underwater Underactuated Mechanisms and Soft Robots

    Mar 9, 2026Chenrui Zhang, Yiyuan Zhang, Yunfei Ye +3Underwater RoboticsSystem Identification

    Department of Mechanical Engineering and Advanced Robotics Centre, National University of Singapore, Singapore. · Singapore-MIT Alliance for Research and Technology (SMART) Centre, 138602, Singapore.

  56. Design and Biomechanical Evaluation of a Lightweight Low-Complexity Soft Bilateral Ankle Exoskeleton

    Feb 20, 2026Josée Mallah, Zakii Javed, Zafer Azak +2Assistive RoboticsSoft Robotics

    Electrical Engineering Division, Department of Engineering, University of Cambridge, Cambridge, CB3 0FA, United Kingdom · Cambridge University Hospitals NHS Foundation Trust, Cambridge CB22 5LD, United Kingdom

  57. Soft Swing-up: Benchmarking Model-Based Optimal Control for Rigid-Soft Underactuated Systems

    Feb 3, 2026Daniele Caradonna, Nikhil Nair, Anup Teejo Mathew +5Robotic ControlModel Predictive Control

    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy · Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, Pisa, Italy · Department of Cognitive Robotics, Delft University of Technology, 2628 CN Delft, The Netherlands +3

  58. Tactile Memory with Soft Robot: Robust Object Insertion via Masked Encoding and Soft Wrist

    Jan 27, 2026Tatsuya Kamijo, Mai Nishimura, Nodoka Shibasaki +3Robotic ControlDexterous Manipulation

    OMRON SINIC X Corporation, 5-24-5 Hongo, Bunkyo-ku, Tokyo, 113-0033, Japan · The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8654, Japan · Northeastern University, 360 Huntington Ave, Boston, MA, 02115, USA

  59. Highly Deformable Proprioceptive Membrane for Real-Time 3D Shape Reconstruction

    Jan 20, 2026Guanyu Xu, Jiaqi Wang, Dezhong Tong +1Tactile Sensing3D Reconstruction

    University of Michigan, Ann Arbor, MI 48109, USA

  60. Soft Pneumatic Grippers: Topology optimization, 3D-printing and Experimental validation

    Nov 24, 2025Prabhat Kumar, Chandra Prakash, Josh Pinskier +2Topology OptimizationMechanism Design

    Department Mechanical and Aerospace Engineering. India Institute of Technology Hyderbad, Telangana 502285, India · CSIRO Robotics, Pullenvale, QLD 4069, Australia · Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, Delft, 2628CD, Zuid-Holland, The Netherlands