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