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This paper presents an energy relationship between vehicle impact pulses and restraint systems and applies the relationship to formulations of response factors for linear and nonlinear restraints. It also applies the relationship to derive optimal impact pulses that minimize occupant response for linear and nonlinear restraints. The relationship offers a new viewpoint to impact pulse optimization and simplifies the process mathematically. In addition, the effects of different vehicle impact pulses on the occupant responses with nonlinear restraints are studied. Finally, concepts of equivalent pulses and equal intensity pulses are presented for nonlinear restraints.