A segmented pulley transmission comprising: a housing ; a pulley assembly rotatably secured within the housing , the pulley assembly comprising: a first pulley rotatable about an axis of rotation and having an outer peripheral surface for engaging an endless member ; a second pulley configured to concentrically surround the first pulley and having an outer peripheral surface for engaging the endless member , the second pulley comprising a set of second pulley segments that are independently movable between an engaged region and a disengaged region; and characterized by at least one transition segment set comprising one or more transition segments that are independently movable between the engaged region and the disengaged region to transition the endless member between the first pulley and the second pulley , the at least one transition segment set defining at least one transition surface for engaging and transitioning the endless member between the first pulley and the second pulley ; an actuator system connected to the pulley assembly and configured to move at least one of the segments of the pulley assembly between the engaged region and the disengaged region; a fixed pulley or another pulley assembly secured within the housing and spaced apart from the pulley assembly ; and the endless member coupling the pulley assembly and the fixed pulley or the other pulley assembly and extending therebetween. a housing ; a pulley assembly rotatably secured within the housing , the pulley assembly comprising: a first pulley rotatable about an axis of rotation and having an outer peripheral surface for engaging an endless member ; a second pulley configured to concentrically surround the first pulley and having an outer peripheral surface for engaging the endless member , the second pulley comprising a set of second pulley segments that are independently movable between an engaged region and a disengaged region; and characterized by at least one transition segment set comprising one or more transition segments that are independently movable between the engaged region and the disengaged region to transition the endless member between the first pulley and the second pulley , the at least one transition segment set defining at least one transition surface for engaging and transitioning the endless member between the first pulley and the second pulley ; a first pulley rotatable about an axis of rotation and having an outer peripheral surface for engaging an endless member ; a second pulley configured to concentrically surround the first pulley and having an outer peripheral surface for engaging the endless member , the second pulley comprising a set of second pulley segments that are independently movable between an engaged region and a disengaged region; and characterized by at least one transition segment set comprising one or more transition segments that are independently movable between the engaged region and the disengaged region to transition the endless member between the first pulley and the second pulley , the at least one transition segment set defining at least one transition surface for engaging and transitioning the endless member between the first pulley and the second pulley ; an actuator system connected to the pulley assembly and configured to move at least one of the segments of the pulley assembly between the engaged region and the disengaged region; a fixed pulley or another pulley assembly secured within the housing and spaced apart from the pulley assembly ; and the endless member coupling the pulley assembly and the fixed pulley or the other pulley assembly and extending therebetween. <EOS>