The DIFFY introduces a Continuous-Contact Mechanical Transmission System based on a differential mechanism that dynamically distributes power from two motors between two outputs, each able to transmit power to an external mechanism. The system can either focus the combined power of both motors on a single output shaft and achieve high force and speed, or distribute the power evenly between two output shafts for multitasking or balanced output. By adapting power distribution to real-time tasks, the DIFFY focuses on energy efficiency and performance. The compact, modular design makes our solution well-suited for advanced robotics applications where space, weight, and power constraints are critical such as: space exploration robots, robotic arms, search and rescue robots.