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