A joint 10 is shown for transmission of torque between an input shaft 12 and an output shaft 14. In the form shown, the joint 10 comprises an outermost helical coil spring 16 and an innermost helical coil spring 18, both of which are connected at their respective opposite ends to the input shaft 12 and to the output shaft 14. The innermost helical spring 18 is arranged to be entirely located within, and co-axially aligned with, the outermost helical spring 16 along the same centerline. The springs 16, 18 are arranged to be counter wound relative to one another to provide delivery of torque in a stabilised manner reflected in a significant reduction in the vibration observed within the joint 10 during use. The joint 10 is also arranged for transmission of thrust (or axial force) between the input shaft 12 and the output shaft 14. The joint 10 comprises a plurality of substantially incompressible members in the form of ball bearings 22 that are located within the innermost helical spring 18 and which are contactable with one another to form a thrust transmitting assembly between the input shaft 12 and the output shaft 14.