A regenerative differential includes torque members, and a gear assembly that includes a primary gear set and a plurality of secondary gear sets. The primary gear set is configured to transfer torque between the secondary gear sets and first and second torque members. The first secondary gear set transfers torque between the primary gear set and a third torque member. The second secondary gear set transfers torque between the primary gear set and a fourth torque member. The gear assembly is configured to maintain a fixed relationship between torque member rotation velocities ω1, ω2, ω3, and ω4, such that ω3=MLω2+ΔLω1, ω4=MRω2+ARω1, ML and ΔL are functions of a ratio of the first secondary gear set, and MR and ΔR are functions of kR of a ratio of the second secondary gear set.