An articulated device for robotic systems, comprising: - a first rigid body, which is configured to rotate about a first rotation axis with respect to a rigid base body, - a second rigid body, which is configured to rotate about a second rotation axis with respect to said first rigid body, - a third rigid body, which is configured to rotate about a third rotation axis with respect to said second rigid body, said first rotation axis, said second rotation axis and said third rotation axis coinciding in at least one point, which defines the center of rotation of said articulated device; - first means for the rotation of said first rigid body with respect to said first rotation axis, - second means for the rotation of said second rigid body with respect to said second rotation axis, and - third means for the rotation of said third rigid body with respect to said third rotation axis; - said second rotation means comprising: - a second actuator (35, 135), which is coupled rigidly to said first rigid body, - a gear pair, which comprises a first gear which is rotated by said second actuator, by way of motion transmission means, and a second gear, which is integral with said second rigid body, - the actuation of said second actuator being adapted to rotate said second rigid body with respect to said first rigid body, about said second rotation axis, characterized in that - said first rotation means comprise a first four-contact point bearing which is interposed between the rigid base body and the first rigid body; and in that - said second rotation means comprise a second four-contact point bearing which is arranged at said center of rotation of said articulated device and is interposed between the first rigid body and the second rigid body, said second four-contact point bearing being arranged so that the first rigid body and the second rigid body when coupled together and at rest are arranged in line, said second rigid body being arranged in the bulk of the first rigid body, - said first rotation means comprising: - - a first actuator, which is coupled rigidly to said first rigid body, - - a first pinion, which is rotated by said first actuator, - - a first ring gear, which is coupled rigidly to said rigid base body and is adapted to engage said first pinion, - the actuation of said first actuator being adapted to rotate said first rigid body with respect to said rigid base body, about said first rotation axis. - a first rigid body, which is configured to rotate about a first rotation axis with respect to a rigid base body, - a second rigid body, which is configured to rotate about a second rotation axis with respect to said first rigid body, - a third rigid body, which is configured to rotate about a third rotation axis with respect to said second rigid body, - first means for the rotation of said first rigid body with respect to said first rotation axis, - second means for the rotation of said second rigid body with respect to said second rotation axis, and - third means for the rotation of said third rigid body with respect to said third rotation axis; - said second rotation means comprising: - a second actuator (35, 135), which is coupled rigidly to said first rigid body, - a gear pair, which comprises a first gear which is rotated by said second actuator, by way of motion transmission means, and a second gear, which is integral with said second rigid body, - the actuation of said second actuator being adapted to rotate said second rigid body with respect to said first rigid body, about said second rotation axis, - said first rotation means comprise a first four-contact point bearing which is interposed between the rigid base body and the first rigid body; and in that - said second rotation means comprise a second four-contact point bearing which is arranged at said center of rotation of said articulated device and is interposed between the first rigid body and the second rigid body, said second four-contact point bearing being arranged so that the first rigid body and the second rigid body when coupled together and at rest are arranged in line, said second rigid body being arranged in the bulk of the first rigid body, - said first rotation means comprising: - - a first actuator, which is coupled rigidly to said first rigid body, - - a first pinion, which is rotated by said first actuator, - - a first ring gear, which is coupled rigidly to said rigid base body and is adapted to engage said first pinion, - the actuation of said first actuator being adapted to rotate said first rigid body with respect to said rigid base body, about said first rotation axis. - - a first actuator, which is coupled rigidly to said first rigid body, - - a first pinion, which is rotated by said first actuator, - - a first ring gear, which is coupled rigidly to said rigid base body and is adapted to engage said first pinion, - the actuation of said first actuator being adapted to rotate said first rigid body with respect to said rigid base body, about said first rotation axis.