A coupling device including two support members; a joint connecting the two support members and allowing relative rotation between the support members about at least one rotational axis; and at least one damping element connecting the two support members in parallel with the joint; wherein the at least one damping element is configured to deform plastically by a relative rotation between the support members about the at least one rotational axis. A support structure for supporting a mass, a method for adjusting the stiffness of a coupling device and a method for providing stiffness to a coupling device are also provided.