(19)

(11)

EP 0 787 074 A1

(12)

(43) Date of publication: 06.08.1997 Bulletin 1997/32 (21) Application number: 95901049.0 (22) Date of filing: 26.10.1994

(51) International Patent Classification (IPC):  B25J 5/ 00( . ) B62D 11/ 00( . ) B62D 55/ 28( . ) B60B 33/ 08( . ) B62D 55/ 08( . ) (86) International application number: PCT/US1994/012262 (87) International publication number: WO 1996/013395 (09.05.1996 Gazette 1996/21)

(84) Designated Contracting States: BE DE FR GB IT (71) Applicant: MASSACHUSETTS INSTITUTE OF TECHNOLOGY Cambridge, MA 02139 (US)	(72) Inventor: WEST, Mark, T. Hoffman Estates, IL 60195 (US) (74) Representative: Jenkins, Peter David, et al  PAGE WHITE & FARRER 54 Doughty Street London WC1N 2LS London WC1N 2LS (GB)