A prosthetic wrist for attaching between an arm prosthesis and a prosthetic accessory includes proximal section, a central section pivotally attached to the proximal section with a first joint, and a distal section pivotally attached to the central section with a second joint. The second joint includes a second pivot axis that is substantially orthogonal to and non-intersecting with the first pivot axis. The distal section further includes at a distal end thereof a terminal device attachment mechanism. The first and second joints each include a proximal portion, a distal portion, a pivot, and a lock mechanism adapted for allowing angular selection between the proximal and distal portions and locking thereof.