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 of the torque members and to a second of the torque members and configured to transfer torque between the secondary gear sets and the first and second torque members via a common torque transfer member common to the secondary gear sets, wherein a first of the secondary gear sets is coupled to a third of the torque members and is configured to transfer torque between the common torque transfer member and the third torque member , and a second of the secondary gear sets is coupled to a fourth of the torque members and is configured to transfer torque between the common torque transfer member and the fourth torque member , 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 , ω 2 is a rotational velocity of the second torque member , ω 3 is a rotational velocity of the third torque member , and ω 4 is a rotational velocity of the fourth torque member . 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 of the torque members and to a second of the torque members and configured to transfer torque between the secondary gear sets and the first and second torque members via a common torque transfer member common to the secondary gear sets, wherein a first of the secondary gear sets is coupled to a third of the torque members and is configured to transfer torque between the common torque transfer member and the third torque member , and a second of the secondary gear sets is coupled to a fourth of the torque members and is configured to transfer torque between the common torque transfer member and the fourth torque member , 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 , ω 2 is a rotational velocity of the second torque member , ω 3 is a rotational velocity of the third torque member , and ω 4 is a rotational velocity of the fourth torque member . 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 , ω 2 is a rotational velocity of the second torque member , ω 3 is a rotational velocity of the third torque member , and ω 4 is a rotational velocity of the fourth torque member . <EOS>