Abstract: A drive for an inverse kinematics device with two parallel axles moved in opposing directions and non-uniformly rotating. The axles have an angular relationship and the drive is supplied externally by at least one essentially uniformly rotating axle. Each of the axles carries an oval wheel, wherein the ovality of the wheels correspond to the angular relationship. The oval wheels are firmly fixed to the associated axle. The periphery of the oval wheels is designed for the positive acceptance of a traction element. At least one uniformly rotating wheel is provided having a periphery designed for the positive acceptance and drive of the traction element. Two traction elements are provided for the transmission of turning moments and power from one of the uniformly rotating wheels onto the oval wheels. Each drive line includes a wheel, traction element and an oval wheel containing an elastic element, which can compensate for impairment of the constancy of peripheral velocity of the oval wheels.