diff --git a/Stack/Opc.Ua.Core/Types/Utils/RelativePath.cs b/Stack/Opc.Ua.Core/Types/Utils/RelativePath.cs
index 939894158c..ebfb679d16 100644
--- a/Stack/Opc.Ua.Core/Types/Utils/RelativePath.cs
+++ b/Stack/Opc.Ua.Core/Types/Utils/RelativePath.cs
@@ -740,7 +740,7 @@ namespace Opc.Ua
 
                 int last = reader.Peek();
 
-                for (int next = last; next != -1; next = reader.Peek(), last=next)
+                for (int next = last; next != -1; next = reader.Peek(), last = next)
                 {
                     if (!Char.IsDigit((char)next))
                     {
@@ -783,22 +783,37 @@ namespace Opc.Ua
                         }
                     }
 
-                    // check for invalid character.            
-                    if (next == '!' || next == ':' || next == '<' || next == '>' || next == '/' || next == '.')
-                    {
-                        throw new ServiceResultException(
-                            StatusCodes.BadSyntaxError,
-                            Utils.Format("Unexpected character '{0}' in browse path.", next));
-
-                    }
-
                     // check for escape character.
                     if (next == '&')
                     {
                         next = reader.Read();
+                        if (next == -1)
+                        {
+                            throw new ServiceResultException(
+                                StatusCodes.BadSyntaxError,
+                                "Unexpected end after escape character '&'.");
+                        }
                         next = reader.Read();
-                        buffer.Append((char)next);
-                        continue;
+
+                        if (next == '!' || next == ':' || next == '<' || next == '>' || next == '/' || next == '.' || next == '#' || next == '&')
+                        {
+                            buffer.Append((char)next);
+                            continue;
+                        }
+                        else
+                        {
+                            throw new ServiceResultException(
+                                StatusCodes.BadSyntaxError,
+                                Utils.Format("Invalid escape sequence '&{0}' in browse path.", next));
+                        }
+                    }
+
+                    // check for invalid character.
+                    if (next == '!' || next == ':' || next == '<' || next == '>' || next == '/' || next == '.' || next == '#' || next == '&')
+                    {
+                        throw new ServiceResultException(
+                            StatusCodes.BadSyntaxError,
+                            Utils.Format("Unexpected character '{0}' in browse path.", next));
                     }
 
                     // append character.
@@ -812,8 +827,8 @@ namespace Opc.Ua
                     if (last != '>')
                     {
                         throw new ServiceResultException(
-                            StatusCodes.BadSyntaxError,
-                            Utils.Format("Missing file '>' for reference type name in browse path."));
+                        StatusCodes.BadSyntaxError,
+                        Utils.Format("Missing closing '>' for reference type name in browse path."));
                     }
                 }
 
diff --git a/Tests/Opc.Ua.Core.Tests/Types/Utils/UtilTests.cs b/Tests/Opc.Ua.Core.Tests/Types/Utils/UtilTests.cs
index 3321792b1c..9f82da6754 100644
--- a/Tests/Opc.Ua.Core.Tests/Types/Utils/UtilTests.cs
+++ b/Tests/Opc.Ua.Core.Tests/Types/Utils/UtilTests.cs
@@ -290,6 +290,68 @@ namespace Opc.Ua.Core.Tests.Types.UtilsTests
             Assert.AreEqual(false, settings.CloseInput);
         }
         #endregion
+
+        #region RelativePath.Parse Escaping
+
+        /// <summary>
+        /// Parse a path containing non-escaped hash character.
+        /// </summary>
+        [Test]
+        public void RelativePathParseNonEscapedHash()
+        {
+            TypeTable typeTable = new TypeTable(new NamespaceTable());
+            string str = "/abc#def";
+            Assert.Throws<ServiceResultException>(() => RelativePath.Parse(str, typeTable).Format(typeTable));
+        }
+
+        /// <summary>
+        /// Parse a path containing correctly escaped hash character.
+        /// </summary>
+        [Test]
+        public void RelativePathParseEscapedHash()
+        {
+            TypeTable typeTable = new TypeTable(new NamespaceTable());
+            string str = "/abc&#def";
+            string expected = "/abc#def";
+            Assert.AreEqual(expected, RelativePath.Parse(str, typeTable).Format(typeTable));
+        }
+
+        /// <summary>
+        /// Parse a path containing correctly escaped hash character folowed by exclamation.
+        /// </summary>
+        [Test]
+        public void RelativePathParseEscapedHashFollowedByExclamation()
+        {
+            TypeTable typeTable = new TypeTable(new NamespaceTable());
+            string str = "/abc&#!def";
+            Assert.Throws<ServiceResultException>(() => RelativePath.Parse(str, typeTable).Format(typeTable));
+        }
+
+        /// <summary>
+        /// Parse a path containing correctly escaped hash character by exclamation within the reference type delimeters.
+        /// </summary>
+        [Test]
+        public void RelativePathParseEscapedHashFollowedByExclamationInReferenceType()
+        {
+            TypeTable typeTable = new TypeTable(new NamespaceTable());
+            string str = "<abc&#!def>";
+            Assert.Throws<ServiceResultException>(() => RelativePath.Parse(str, typeTable).Format(typeTable));
+        }
+
+        /// <summary>
+        /// Parse a path containing incorrectly escaped character sequence.
+        /// </summary>
+        [Test]
+        public void RelativePathParseInvalidEscapeSequence()
+        {
+            TypeTable typeTable = new TypeTable(new NamespaceTable());
+            string str = "/abc&$!def";
+            Assert.Throws<ServiceResultException>(() => RelativePath.Parse(str, typeTable).Format(typeTable));
+        }
+
+
+        #endregion
+
     }
 
 }