Figure 1. Photograph of the wrist manipulandum.

The construction consists of two concentric rings that move around perpendicular axes and allow two degrees of freedom for wrist movement: wrist flexion-extension, ulnar-radial deviation and all combinations thereof. a: (frontal view) neutral position (origin), the right hand is positioned in a vertical plane, holding the grip of the manipulandum; b: (top view) full wrist extension and c: (side view) full radial deviation.