A joint assembly comprising: a proximal joint housing defining a first longitudinal axis (A-A) and including a first hinge positioned at a distal portion of the proximal joint housing; a first ring pivotally coupled to the first hinge about a first pivot axis orthogonal to and intersecting the first longitudinal axis (A-A); a joint cover having a first cover portion and a second cover portion, the first cover portion pivotally coupled to the first hinge about a second pivot axis orthogonal to and intersecting the first pivot axis and the first longitudinal axis (A-A), the first and second pivot axes intersecting the first longitudinal axis (A-A)at a first joint center; a second ring pivotally coupled to the second cover portion of the joint cover about a third pivot axis; a second hinge pivotally coupled to the second ring about a fourth pivot axis orthogonal to the third pivot axis, the third and fourth pivot axes intersecting at a second joint center spaced from the first joint center, a cover axis (C-C) of the joint cover defined between the first and second joint centers; and a biasing mechanism engaged with the first ring and the joint cover to bias the joint cover towards an aligned configuration in which the cover axis (C-C) is aligned with the first longitudinal axis (A-A), characterized in that the joint assembly further comprises: a first drive shaft extending through the first hinge; a joint body having a first body portion and a second body portion, the first body portion being rotatably disposed within the first cover portion and rotatably and pivotally coupled to the first drive shaft, the second body portion being rotatably disposed within the second cover portion; and a second drive shaft extending through the second hinge, the second drive shaft rotatably and pivotally coupled to the second body portion. a proximal joint housing defining a first longitudinal axis (A-A) and including a first hinge positioned at a distal portion of the proximal joint housing; a first ring pivotally coupled to the first hinge about a first pivot axis orthogonal to and intersecting the first longitudinal axis (A-A); a joint cover having a first cover portion and a second cover portion, the first cover portion pivotally coupled to the first hinge about a second pivot axis orthogonal to and intersecting the first pivot axis and the first longitudinal axis (A-A), the first and second pivot axes intersecting the first longitudinal axis (A-A)at a first joint center; a second ring pivotally coupled to the second cover portion of the joint cover about a third pivot axis; a second hinge pivotally coupled to the second ring about a fourth pivot axis orthogonal to the third pivot axis, the third and fourth pivot axes intersecting at a second joint center spaced from the first joint center, a cover axis (C-C) of the joint cover defined between the first and second joint centers; and a biasing mechanism engaged with the first ring and the joint cover to bias the joint cover towards an aligned configuration in which the cover axis (C-C) is aligned with the first longitudinal axis (A-A), characterized in that the joint assembly further comprises: a first drive shaft extending through the first hinge; a joint body having a first body portion and a second body portion, the first body portion being rotatably disposed within the first cover portion and rotatably and pivotally coupled to the first drive shaft, the second body portion being rotatably disposed within the second cover portion; and a second drive shaft extending through the second hinge, the second drive shaft rotatably and pivotally coupled to the second body portion. a first drive shaft extending through the first hinge; a joint body having a first body portion and a second body portion, the first body portion being rotatably disposed within the first cover portion and rotatably and pivotally coupled to the first drive shaft, the second body portion being rotatably disposed within the second cover portion; and a second drive shaft extending through the second hinge, the second drive shaft rotatably and pivotally coupled to the second body portion.