A joint assembly including first and second supports, a spring cage, first and second drive shafts, and first and second cables. The spring cage having a first end fixed to the first support and a second end fixed to the second support and defining a spring channel between the first and second supports. The first drive shaft rotatably disposed along a first longitudinal axis defined by the first support and the second drive shaft rotatably disposed along a second longitudinal axis defined by the second support. The first and second cables extending through the first support and having an end secured to the second support. The first and second cables translatable in a direction parallel to the first longitudinal axis to articulated the second support relative to the first support such that the second longitudinal axis is disposed at a total joint angle relative to the first longitudinal axis.