A universal joint comprises an input shaft comprising at one end thereof a first pair of arms and an output shaft comprising at one end thereof a second pair of arms. Respective opposed first pivot pins are provided on the distal ends of the first pair of arms and aligned along a first axis (P1). Respective opposed second pivot pins are provided on the distal ends of the second pair of opposed arms and aligned along a second axis (P2), the second axis (P2) being perpendicular to the first axis (P1). The joint further comprises a compliant ring extending around the input and output shafts and having first and second pairs of opposed openings for receiving the first and second pivot pins.