an excellent design came up to support the 2 degree of freedom in
wrist section 5.
*movement no.- 5.1 i.e movement of palm section in horizontal
direction from -45 degree to +45 degree.
*movement no.- 5.2 i.e movement of palm section in vertical direction
from -85 degree(approx.) to +90 degree.
Both these movement achieved very easily with an innovative design of
universal joint given on VAN DOREN DESIGN .
For pictures pictures and cad images check out this link
http://vandorendesigns.com/2DOFWrist.html.