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*[[1st century BC]] - [[Antikythera mechanism]] contains a planar differential.
*[[1810]] - [[Rudolph Ackermann]] of Germany invents a four-wheel steering system for carriages, which some later writers mistakenly report as a differential.
*[[1827]] - modern automotive differential patented by watchmaker [[Onésiphore Pecqueur]] ([[1792]]-[[1852]]) of the [[Conservatoire des Arts et Métiers]] in [[France]] for use on a steam car.
*[[1832]] - [[Richard Roberts]] of England patents 'gear of compensation', a differential for road locomotives.
*[[1876]] - [[James Starley]] of [[Coventry]] invents chain-drive differential for use on [[bicycle]]s; invention later used on automobiles by [[Carl Benz]].
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