Abstract: A joint unit, in particular a joint unit of a robot, a joint system, a robot for manipulation and/or transportation, in particular for transportation of an object, a robotic exoskeleton system and a method for manipulation and/or transportation, in particular for transportation of an object, in particular for moving a body. The joint unit has a rotary drive, a gear, at least one spring element and a joint output. The gear has a gear input and a gear output, wherein the gear input is mechanically coupled to the rotary drive and suitable for transformation of the torque provided by the rotary drive. The spring element is mechanically coupled to the gear output and suitable for at least partial storing of the torque provided by the gear output and/or of the torque provided by an external load applied to the joint unit.

Abstract: The present invention relates a tool head for a personal care appliance, including a plurality of tool rotors rotatably supported about rotor axes and a drive train for rotatably driving said tooling rotors from a motor, wherein such drive train includes: an input crank element having connection means for connecting to a drive shaft, a transmitter element configured to be driven by said input crank element, and output crank elements configured to be driven by said transmitter element to rotate about said rotor axis.