|Robert Ireson. The Penguin Car Handbook, Revised Edition. Penguin Books, 1967.|
Hooke joints, more commonly known over here as universal joints, were first investigated systematically by Robert Hooke beginning in 1667, and given the name "universal joint" by him in a treatise he published in 1676. That far back! It's also known as a U-joint, Cardan joint or Spicer joint. The Wikipedia entry is quite fascinating, albeit (at least to me) equally abstruse.