Velcro
Swiss electrical engineer George de Mestral invented his first touch fastener when, in 1941, he went for a walk in the woods and wondered why Burdock seeds clung to his coat and dog. He discovered it could be turned into something useful. He patented it in 1955 and subsequently refined and developed its practical manufacture until its commercial introduction in the late 1950s.
Constant-velocity joint
The universal joint, one of the earliest means of transmitting power between two angled shafts, was invented by Gerolamo Cardano in the 16th century. The fact that it failed to maintain constant velocity during rotation was recognized by Robert Hooke in the 17th century, who proposed the first constant velocity joint, consisting of two Cardan joints offset by 90 degrees, so as to cancel out the velocity variations. This is the "double Cardan", shown below. Many different types of constant-velocity joints have been invented since then.