Abstract: A motorized joint unit of a mechanism has a rotor assembly and a stator assembly operatively assembled and configured for being secured to respective links of the mechanism, the rotor assembly and the stator assembly respectively including a rotor and a stator concurrently operable to cause a rotation of a rotor of the rotor assembly relative to a stator of the stator assembly about a rotational axis, the rotor assembly including a shaft. A brake assembly has a friction clutch assembly including a spoke disk having at least one radial projection. A brake actuator has a plunger displaceable into a path of movement of the radial projection to cause a braking force to be applied by the friction clutch assembly to the shaft when contact is made between the radial projection and the plunger. The brake assembly is connected to the motorized joint unit for the braking force to brake a rotation between the rotor assembly and the stator assembly.