The subject matter of the invention is an articulation (1) with controllable stiffness and a force-measuring system, comprising a first device (20) that comprises a frame (4) having a curved face and connected to a first motor element (2), the first device (20) regulating the position of the articulation (1), and a second device (22) that regulates the stiffness of the articulation (1) and comprises a thrust element (15), the movement (D) of which determines the pre-compression of a resistive element (11) and thus the stiffness of the articulation (1) the first motor element (2) causes the frame (4) to rotate such that a wheel (8) of the second device (22) rolls on the curved face of the frame (4), causing the resistive element (11) to be compressed (C) via a transmission rod (7) associated with said wheel (8) and with the resistive element (11).
