Abstract: An improved coupling comprises a driving member rotatable about a first axis, a driven member rotatable about a second axis and a plurality of intermediate floating members disposed between and coupling the driving and driven members so that the rotation axes of the driving and driven members intersect at a common point when the members are angularly misaligned. The floating members are each elongated in one direction. Each floating member has (1) its elongated central axis extending radially with respect to the rotation axes through the common point and lying in a common plane with the elongated central axes of the other floating members, (2), an outer radial end defined by a convex spherical end surface having a center of curvature coincident with the common point, and (3) an inner radial end defined by a concave spherical end surface having a center of curvature coincident with the common point.