A coupling system for fluid transfer between a bow area of an elongated vessel and a hydrocarbon delivery installation at open sea, the coupling system comprising - a support frame (21, 24a,b) for suspending the coupling system to the vessel and - a fluid receiving tube segment fixed to the support frame comprising a coupling device arranged at a first end of the tube segment and configured to establish a leakage free coupling with a hose valve, characterized in that the coupling system further comprises a remotely controlled drive system comprising at least three separately controlled drive units, of which the first, second and third drive units are configured to simultaneously exert a transverse force generating pendulum movements of the coupling device in the transverse plane, the transverse plane being defined as a plane oriented transverse the vessel and the vessel's height when the coupling system is assembled to the bow area of the vessel, a longitudinal force generating pendulum movements of the coupling device in a longitudinal plane, the longitudinal plane being defined as the plane oriented longitudinal the vessel and the vessel's height when the coupling system is assembled to the bow area of the vessel, and a rotational force generating rotational movement of at least part of the coupling device, respectively. - a support frame (21, 24a,b) for suspending the coupling system to the vessel and - a fluid receiving tube segment fixed to the support frame comprising a coupling device arranged at a first end of the tube segment and configured to establish a leakage free coupling with a hose valve, characterized in that the coupling system further comprises a remotely controlled drive system comprising at least three separately controlled drive units, of which the first, second and third drive units are configured to simultaneously exert a transverse force generating pendulum movements of the coupling device in the transverse plane, the transverse plane being defined as a plane oriented transverse the vessel and the vessel's height when the coupling system is assembled to the bow area of the vessel, a longitudinal force generating pendulum movements of the coupling device in a longitudinal plane, the longitudinal plane being defined as the plane oriented longitudinal the vessel and the vessel's height when the coupling system is assembled to the bow area of the vessel, and a rotational force generating rotational movement of at least part of the coupling device, respectively. a coupling device arranged at a first end of the tube segment and configured to establish a leakage free coupling with a hose valve, characterized in that the coupling system further comprises a remotely controlled drive system comprising at least three separately controlled drive units, of which the first, second and third drive units are configured to simultaneously exert a transverse force generating pendulum movements of the coupling device in the transverse plane, the transverse plane being defined as a plane oriented transverse the vessel and the vessel's height when the coupling system is assembled to the bow area of the vessel, a longitudinal force generating pendulum movements of the coupling device in a longitudinal plane, the longitudinal plane being defined as the plane oriented longitudinal the vessel and the vessel's height when the coupling system is assembled to the bow area of the vessel, and a rotational force generating rotational movement of at least part of the coupling device, respectively.