An articulated device for robotic systems includes three rigid bodies.The first rigid body is configured to rotate about a first rotation axis with respect to a rigid base body.The second rigid body is configured to rotate about a second rotation axis with respect to the first rigid body.The third rigid body is configured to rotate about a third rotation axis with respect to the second rigid body.The first, second, and third rotation axes coincide in at least one point which defines the center of rotation of the articulated device.