A regenerative differential comprising: a plurality of torque members; and a gear assembly comprising a primary gear set and a plurality of secondary gear sets coupled to the primary gear set, the primary gear set being coupled to a first (001, 101, 301) of the torque members and to a second (002, 102, 102) of the torque members and configured to transfer torque between the secondary gear sets and the first (001, 101, 101) and second torque (002, 102, 102) members via a common torque transfer member (102c, 301a) common to the secondary gear sets, wherein a first of the secondary gear sets is coupled to a third (003, 103, 303) of the torque members and is configured to transfer torque between the common torque transfer member (102c, 301a) and the third torque member (003, 103, 303), and a second of the secondary gear sets is coupled to a fourth (004, 104, 304) of the torque members and is configured to transfer torque between the common torque transfer member (102c, 301a) and the fourth torque member (004, 104, 304), wherein the gear assembly is configured to maintain a fixed kinematic relationship between ω 1, ω 2, ω 3 and ω 4, as follows: ω 3 = M L ω 2 + Δ L ω 1, and ω 4 = M R ω 2 + Δ R ω 1, where: M L and Δ L are functions of k L, and M R and Δ R are functions of k R, and where: k L is a ratio of the first secondary gear set, k R is a ratio of the second secondary gear set, ω 1 is a rotational velocity of the first torque member (001, 101, 301), ω 2 is a rotational velocity of the second torque member (002, 102, 302), ω 3 is a rotational velocity of the third torque member (003, 103, 303), and ω 4 is a rotational velocity of the fourth torque member (004, 104, 304). a plurality of torque members; and a gear assembly comprising a primary gear set and a plurality of secondary gear sets coupled to the primary gear set, the primary gear set being coupled to a first (001, 101, 301) of the torque members and to a second (002, 102, 102) of the torque members and configured to transfer torque between the secondary gear sets and the first (001, 101, 101) and second torque (002, 102, 102) members via a common torque transfer member (102c, 301a) common to the secondary gear sets, wherein a first of the secondary gear sets is coupled to a third (003, 103, 303) of the torque members and is configured to transfer torque between the common torque transfer member (102c, 301a) and the third torque member (003, 103, 303), and a second of the secondary gear sets is coupled to a fourth (004, 104, 304) of the torque members and is configured to transfer torque between the common torque transfer member (102c, 301a) and the fourth torque member (004, 104, 304), wherein the gear assembly is configured to maintain a fixed kinematic relationship between ω 1, ω 2, ω 3 and ω 4, as follows: ω 3 = M L ω 2 + Δ L ω 1, and ω 4 = M R ω 2 + Δ R ω 1, where: M L and Δ L are functions of k L, and M R and Δ R are functions of k R, M L and Δ L are functions of k L, and M R and Δ R are functions of k R, and where: k L is a ratio of the first secondary gear set, k R is a ratio of the second secondary gear set, ω 1 is a rotational velocity of the first torque member (001, 101, 301), ω 2 is a rotational velocity of the second torque member (002, 102, 302), ω 3 is a rotational velocity of the third torque member (003, 103, 303), and ω 4 is a rotational velocity of the fourth torque member (004, 104, 304). k L is a ratio of the first secondary gear set, k R is a ratio of the second secondary gear set, ω 1 is a rotational velocity of the first torque member (001, 101, 301), ω 2 is a rotational velocity of the second torque member (002, 102, 302), ω 3 is a rotational velocity of the third torque member (003, 103, 303), and ω 4 is a rotational velocity of the fourth torque member (004, 104, 304).