An articulation with controllable stiffness and force measuring device, comprising: - a first device comprising a frame connected to a first motor element, this first device performing the regulation of the position of the articulation, - a second device which regulates the stiffness of the articulation and which acts as an anchorage for the first device to the articulation, comprising: - a coupling body on which the other components of the second device are arranged, and - a resistive element, wherein the first motor element provides a rotation to the frame of the first device, wherein the frame has a curved face, such that, with the rotation of the frame, a wheel of the second device rolls on the curved face of the frame, and causes a compression of the resistive element of the second device, so that this compression and the velocity at which it occurs determine a force developed by the resistive element known as F thrust characterized in that the second device further comprises - a transmission rod attached, at one end, to the resistive element and comprising the wheel at the opposite end, - a thrust element with a threaded spindle through it, on which the resistive element rests, and - a second motor attached to the spindle, which provides a displacement to the thrust element by a rotation of said spindle, wherein the displacement D of the thrust element determines a pre-compression of the resistive element, thus determining the articulation stiffness. - a first device comprising a frame connected to a first motor element, this first device performing the regulation of the position of the articulation, - a second device which regulates the stiffness of the articulation and which acts as an anchorage for the first device to the articulation, comprising: - a coupling body on which the other components of the second device are arranged, and - a resistive element, wherein the first motor element provides a rotation to the frame of the first device, wherein the frame has a curved face, such that, with the rotation of the frame, a wheel of the second device rolls on the curved face of the frame, and causes a compression of the resistive element of the second device, so that this compression and the velocity at which it occurs determine a force developed by the resistive element known as F thrust characterized in that the second device further comprises - a transmission rod attached, at one end, to the resistive element and comprising the wheel at the opposite end, - a thrust element with a threaded spindle through it, on which the resistive element rests, and - a second motor attached to the spindle, which provides a displacement to the thrust element by a rotation of said spindle, wherein the displacement D of the thrust element determines a pre-compression of the resistive element, thus determining the articulation stiffness. - a coupling body on which the other components of the second device are arranged, and - a resistive element, wherein the first motor element provides a rotation to the frame of the first device, wherein the frame has a curved face, such that, with the rotation of the frame, a wheel of the second device rolls on the curved face of the frame, and causes a compression of the resistive element of the second device, so that this compression and the velocity at which it occurs determine a force developed by the resistive element known as F thrust - a transmission rod attached, at one end, to the resistive element and comprising the wheel at the opposite end, - a thrust element with a threaded spindle through it, on which the resistive element rests, and - a second motor attached to the spindle, which provides a displacement to the thrust element by a rotation of said spindle, wherein the displacement D of the thrust element determines a pre-compression of the resistive element, thus determining the articulation stiffness.