Abstract: The invention concerns a device for coupling the torque transmission between a primary shaft and a receiving shaft to enable an angular and/or radial misalignment and/or an axial displacement between the two shafts, comprising two hubs (2) each provided with an external toothing (3) normally symmetrically convex with respect to a symmetrical plane (4) and a sleeve tube (7) having an internal toothing (8) co-operating with each external toothing (3) and capable of sliding longitudinally on them, limit stop means (9) being arranged in a ring-shaped space (10) between a wall (11) bearing the external toothing (3) and part (12) of at least of one of the hubs (2) and comprising a ring-shaped stop (15) fixed to the hub (2) in the symmetrical plane (4) and, at least on one side of the stop (15), a stop pin (16, 17) associated with the stop (15), arranged in the shape of a ring of the same diameter as that of the stop (15), perpendicular to the axis (18) of the sleeve tube (7), and fixed to it.