Abstract: A kinematic universal coupling assembly for converting rotation about a first rotational axis to rotation about a second rotational axis comprises a driving member rotatable about the first rotational axis and having first, second and third torque transmitting portions relative to the first rotational axis, a driven member rotatable about the second rotational axis and having first, second and third torque transmitted portions relative to the second rotational axis, lines connecting the first, second and third torque transmitted portions to the first, second and third torque transmitting portions intersecting one another at a point, and a torque transmitting device for transmitting a torque from a rotative driving member to a rotative driven member. The torque transmitting device includes first, second and third members for transmitting a torque from the first, second and third torque transmitting portions to the first, second and third torque transmitting portions.