The “cross joint,” also known as the universal joint or Hooke’s joint, was invented by Gerolamo Cardano in the 16th century. Later, Robert Hooke proposed a solution for the nonuniform rotary speed of the universal joint by using a pair of universal joints
90 degrees out of phase, This configuration, known as a type of constant-velocity joint, was also developed by Hooke in the 17th century.
