1. Crash Safety Division, Department of Machine and Vehicle Systems, Chalmers University of Technology, SE-412 96 Go¨teborg, Sweden
2. Crash Safety Division, Department of Machine and Vehicle Systems, Chalmers University of Technology, SE-412 96 Go¨teborg, Sweden,
3. General Motors Research and Development Center, Warren, MI 48090-9055, USA,
4. Saab Automobile AB, SE-461 80 Trollha¨ttan, Sweden