A joint mechanism comprises: two spur gears (9, 10) a support member (11) which supports the two spur gears (9, 10) so that the two spur gears (9, 10) are respectively rotatable about two joint axes (A, B) which are arranged at a distance from each other in a twisted positional relationship and a rotational force transmission mechanism (12) which transmits rotational force between the spur gears (9, 10). The rotational force transmission mechanism (12) is provided with: a transmission member (13) which comprises a rigid body and which is supported so as to be movable only in the direction parallel to the intersecting lines of planes (C, D) which are respectively perpendicular to the two joint axes (A, B) and cam mechanisms (14) or link mechanisms (29) which are each arranged between the transmission member (13) and one of the two spur gears (9, 10) and which convert the rotational motion of the spur gears (9, 10) into the rectilinear motion of the transmission member (13).La présente invention concerne un mécanisme darticulation comprenant : deux engrenages cylindriques (9, 10) un élément de support (11) qui supporte les deux engrenages cylindriques (9, 10) de sorte que les deux engrenages cylindriques (9, 10) soient respectivement rotatifs autour de deux axes (A, B) darticulation qui sont agencés à une certaine distance lun de lautre dans une relation de position torsadée et un mécanisme (12) de transmission de force de rotation qui transmet une force de rotation entre les engrenages cylindriques (9, 10). Le mécanisme (12) de transmission de force de rotation est pourvu : dun élément de transmission (13) qui comporte un corps rigide et qui est supporté de sorte à être mobile uniquement dans la direction parallèle aux lignes dintersection de plans (C, D) qui sont respectivement perpendiculaires aux deux axes (A, B) darticulation et de mécanismes à came (14) ou de mécanismes de liaison (29) qui sont agencés entre lélément de transmission (13) et lun des deux engre
