AbstractA computer controlled wrist joint motion simulator has been developed that actively moves forearms from cadavers through cyclic planar flexion‐extension motions, planar radial‐ulnar deviation motions, and combined motions such as circumduction. Hybrid position‐force feedback control algorithms are used to determine the wrist flexor and extensor tendon forces necessary to achieve the desired motions. The simulator was used in a series of 12 fresh cadaver forearms to produce both flexion‐extension and radial‐ulnar deviation motions and was found to cause repeatable, physiological movements. In these experiments, the extensor tendon forces were greater than those of the flexors, typically by a factor of two.