Wrist

The wrist has two degrees of freedom, Yaw and Pitch.

Yaw

The Yaw rotation is more proximal, and has a range of -28º (towards little finger) to 10º (towards thumb), and a pulley diameter of 65mm.

../_images/md_wrist_yaw.png

Pitch

The Pitch rotation is more distal, and has a range of -40º (extension) to 28º (flexion), and a pulley diameter of 31mm.

../_images/md_wrist_pitch.png