How to build a joint that is motorized and has a freedom of movement of 60 degrees and can move in all directions?

I want to build a motorized joint that has a freedom of movement of 60 degrees in all directions. The joint has to be motorized and could lock in a single position. I don’t know how to build something like that and I came across the ICAROS machines. I want my joint to move like the ICAROS Home, but it had to be compact. I want the joint to be about 10 cm by 10 cm. Please help. Thank you.

P.s. I might have used some vocabulary wrong, sorry, I am just starting out.

submitted by /u/TheRandomRocketeer
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