The joint numerical range of three hermitian $4\times 4$ matrices

We analyze the joint numerical range $W$ of three hermitian matrices of order four. In the generic case, this three-dimensional convex set has a smooth boundary. We analyze non-generic structures. Fifteen possible classes regarding the numbers of non-elliptic faces in the boundary of $W$ are identified and an explicit example is presented for each class. Secondly, it is shown that a nonempty intersection of three mutually distinct one-dimensional faces is a corner point. Thirdly, introducing a tensor product structure into $\mathbb C^4=\mathbb C^2\otimes\mathbb C^2$, one defines the separable joint numerical range - a subset of $W$ useful in studies of quantum entanglement. The boundary of the separable numerical range is compared with that of $W$.