A robotic device comprising: (a) an elongate device body comprising: (i) a first driveshaft rotatably disposed within the device body, the first driveshaft comprising: a first lumen defined along a length of the first driveshaft; a first drive bevel gear operably coupled to the first driveshaft; (ii) a second driveshaft rotatably disposed within the first lumen, the second driveshaft comprising: a second lumen defined along a length of the second driveshaft; and a second drive bevel gear operably coupled to the second driveshaft; and (iii) a third driveshaft rotatably disposed within the second lumen; (b) a first shoulder joint comprising: (i) a conversion body operably coupled to at least one of the first, second, or third driveshafts (40A, 40B, 40C); characterised in that the first shoulder joint further comprises: (ii) a rotation body rotatable in relation to the conversion body, the rotation body comprising first and second coplanar openings (120A, 120B); (iii) a first inner bevel gear rotatably coupled to the second drive gear; (iv) a first spur gear operably coupled to the first inner bevel gear through the first opening; (v) a second spur gear operably coupled to a first spur gear; (vi) a second inner bevel gear operably coupled to the second spur gear through the second opening; and (vii) an output gear rotatably coupled to the second inner bevel gear; and (c) a first arm operably coupled to the first shoulder joint. (a) an elongate device body comprising: (i) a first driveshaft rotatably disposed within the device body, the first driveshaft comprising: a first lumen defined along a length of the first driveshaft; a first drive bevel gear operably coupled to the first driveshaft; (ii) a second driveshaft rotatably disposed within the first lumen, the second driveshaft comprising: a second lumen defined along a length of the second driveshaft; and a second drive bevel gear operably coupled to the second driveshaft; and (iii) a third driveshaft rotatably disposed within the second lumen; (i) a first driveshaft rotatably disposed within the device body, the first driveshaft comprising: a first lumen defined along a length of the first driveshaft; a first drive bevel gear operably coupled to the first driveshaft; a first lumen defined along a length of the first driveshaft; a first drive bevel gear operably coupled to the first driveshaft; (ii) a second driveshaft rotatably disposed within the first lumen, the second driveshaft comprising: a second lumen defined along a length of the second driveshaft; and a second drive bevel gear operably coupled to the second driveshaft; and a second lumen defined along a length of the second driveshaft; and a second drive bevel gear operably coupled to the second driveshaft; and (iii) a third driveshaft rotatably disposed within the second lumen; (b) a first shoulder joint comprising: (i) a conversion body operably coupled to at least one of the first, second, or third driveshafts (40A, 40B, 40C); characterised in that the first shoulder joint further comprises: (ii) a rotation body rotatable in relation to the conversion body, the rotation body comprising first and second coplanar openings (120A, 120B); (iii) a first inner bevel gear rotatably coupled to the second drive gear; (iv) a first spur gear operably coupled to the first inner bevel gear through the first opening; (v) a second spur gear operably coupled to a first spur gear; (vi) a second inner bevel gear operably coupled to the second spur gear through the second opening; and (vii) an output gear rotatably coupled to the second inner bevel gear; and (i) a conversion body operably coupled to at least one of the first, second, or third driveshafts (40A, 40B, 40C); characterised in that the first shoulder joint further comprises: (ii) a rotation body rotatable in relation to the conversion body, the rotation body comprising first and second coplanar openings (120A, 120B); (iii) a first inner bevel gear rotatably coupled to the second drive gear; (iv) a first spur gear operably coupled to the first inner bevel gear through the first opening; (v) a second spur gear operably coupled to a first spur gear; (vi) a second inner bevel gear operably coupled to the second spur gear through the second opening; and (vii) an output gear rotatably coupled to the second inner bevel gear; and (ii) a rotation body rotatable in relation to the conversion body, the rotation body comprising first and second coplanar openings (120A, 120B); (iii) a first inner bevel gear rotatably coupled to the second drive gear; (iv) a first spur gear operably coupled to the first inner bevel gear through the first opening; (v) a second spur gear operably coupled to a first spur gear; (vi) a second inner bevel gear operably coupled to the second spur gear through the second opening; and (vii) an output gear rotatably coupled to the second inner bevel gear; and (c) a first arm operably coupled to the first shoulder joint.