Abstract: A joint structure includes a first link and a second link coupled to one another by a joint. The first link and the second link are articulatable relative to each other about the joint. An actuation element extends through a first guide channel in the first link and a second guide channel in the second link. The first guide channel terminates in an opening where the actuation element extends from the first link to extend across the joint to the second link. A first edge portion of the opening is at a first location along a longitudinal axis of the first guide channel, and a second edge portion of the opening is at a second location different from the first location along the longitudinal axis of the first guide channel. Systems and devices include related joint structures.