diff --git a/docs/source/arm_ets.rst b/docs/source/arm_ets.rst
index 49a5b33e..f0fbc5a9 100644
--- a/docs/source/arm_ets.rst
+++ b/docs/source/arm_ets.rst
@@ -70,7 +70,7 @@ ETS - 3D
 --------
 
 .. autoclass:: roboticstoolbox.ets.ETS.ETS
-   :members: __str__, __repr__, __mul__, __getitem__, n, m, structure, joints, jointset, split, inv, compile, insert, fkine, jacob0, jacobe, hessian0, hessiane
+   :members: __str__, __repr__, __mul__, __getitem__, n, m, structure, joints, jindex_set, split, inv, compile, insert, fkine, jacob0, jacobe, hessian0, hessiane
    :undoc-members:
    :show-inheritance:
    :member-order: bysource
@@ -79,7 +79,7 @@ ETS - 2D
 --------
 
 .. autoclass:: roboticstoolbox.ets.ETS2.ETS2
-   :members: __str__, __repr__, __mul__, __getitem__, n, m, structure, joints, jointset, split, inv, compile, insert, fkine, jacob0, jacobe
+   :members: __str__, __repr__, __mul__, __getitem__, n, m, structure, joints, jindex_set, split, inv, compile, insert, fkine, jacob0, jacobe
    :undoc-members:
    :show-inheritance:
 
diff --git a/src/roboticstoolbox/ets/_ETS.py b/src/roboticstoolbox/ets/_ETS.py
index a6699f91..6e3acc3b 100644
--- a/src/roboticstoolbox/ets/_ETS.py
+++ b/src/roboticstoolbox/ets/_ETS.py
@@ -281,12 +281,12 @@ def joint_idx(self) -> list[int]:
 
         return np.where([e.isjoint for e in self])[0]  # type: ignore
 
-    def joints(self) -> list[ET]:
+    def joints(self) -> list[BaseET]:
         """
         Get a list of the variable ETs with this ETS
 
         :returns: list of ETs that are joints
-        :rtype: list[ET]
+        :rtype: list[BaseET]
 
         Examples
         --------
@@ -372,7 +372,7 @@ def jindex_set(self) -> set[int]:  #
 
             >>> from roboticstoolbox import ET
             >>> e = ET.Rz(jindex=1) * ET.tx(jindex=2) * ET.Rz(jindex=1) * ET.tx(1)
-            >>> e.jointset()
+            >>> e.jindex_set()
 
         """
 
@@ -393,7 +393,7 @@ def jindices(self) -> NDArray:
 
             >>> from roboticstoolbox import ET
             >>> e = ET.Rz(jindex=1) * ET.tx(jindex=2) * ET.Rz(jindex=1) * ET.tx(1)
-            >>> e.jointset()
+            >>> e.jindices
 
         """