A wrist joint, comprising: a first disc (410, 652, 710, 910, 1010, 1110, 1310, 1710) comprising a first pair of joint features and a first pair of load bearing surfaces, the first pair of joint features being positioned opposite one another across a central axis of the first disc, the first pair of load bearing surfaces being positioned opposite one another across the central axis of the first disc, and the first pair of load bearing surfaces being radially offset from the first pair of joint features; a second disc (420, 654, 720, 920, 1020, 1120, 1320, 1720) adjacent the first disc, the second disc comprising a second pair of joint features and a second pair of load bearing surfaces, the second pair of joint features being positioned opposite one another across a central axis of the second disc, the second pair of load bearing surfaces being positioned opposite one another across the central axis of the second disc, and the second pair of load bearing surfaces being radially offset from the second pair of joint features; and a drive tendon that extends through the first disc and the second disc; wherein the first pair of joint features and the second pair of joint features intermesh with one another; wherein each joint feature of the first pair of joint features comprises a plurality of teeth (412, 414, 512, 514, 612, 614, 712, 714, 912, 913, 914, 1000, 1012, 1014, 1100, 1112, 1114, 1212, 1214, 1412, 1512, 1514) or a plurality of pins (422, 424 426, 522, 524, 526, 622, 624, 626, 651, 655, 722, 724, 726, 922, 924, 926, 1022, 1024, 1122, 1124, 1126, 1422, 1424, 1522, 1524, 1526), each joint feature of the second pair of joint features comprises the other of the plurality of teeth or the plurality of pins, the plurality of teeth defining a first surface profile, and the plurality of pins defining a second surface profile differing from the first surface profile; wherein one or both of the first surface profile and the second surface profile comprises an at least partially cycloidal surface profile; wherein the drive tendon is actuatable to exert a force on at least one of the first and second discs to cause relative rotation between the first and second discs; and wherein the first surface profile and the second surface profile are configured such that the first and second discs have a maximum rotational range of motion greater than +/- 45 degrees relative to each other. a first disc (410, 652, 710, 910, 1010, 1110, 1310, 1710) comprising a first pair of joint features and a first pair of load bearing surfaces, the first pair of joint features being positioned opposite one another across a central axis of the first disc, the first pair of load bearing surfaces being positioned opposite one another across the central axis of the first disc, and the first pair of load bearing surfaces being radially offset from the first pair of joint features; a second disc (420, 654, 720, 920, 1020, 1120, 1320, 1720) adjacent the first disc, the second disc comprising a second pair of joint features and a second pair of load bearing surfaces, the second pair of joint features being positioned opposite one another across a central axis of the second disc, the second pair of load bearing surfaces being positioned opposite one another across the central axis of the second disc, and the second pair of load bearing surfaces being radially offset from the second pair of joint features; and a drive tendon that extends through the first disc and the second disc; wherein the first pair of joint features and the second pair of joint features intermesh with one another; wherein each joint feature of the first pair of joint features comprises a plurality of teeth (412, 414, 512, 514, 612, 614, 712, 714, 912, 913, 914, 1000, 1012, 1014, 1100, 1112, 1114, 1212, 1214, 1412, 1512, 1514) or a plurality of pins (422, 424 426, 522, 524, 526, 622, 624, 626, 651, 655, 722, 724, 726, 922, 924, 926, 1022, 1024, 1122, 1124, 1126, 1422, 1424, 1522, 1524, 1526), each joint feature of the second pair of joint features comprises the other of the plurality of teeth or the plurality of pins, the plurality of teeth defining a first surface profile, and the plurality of pins defining a second surface profile differing from the first surface profile; wherein one or both of the first surface profile and the second surface profile comprises an at least partially cycloidal surface profile; wherein the drive tendon is actuatable to exert a force on at least one of the first and second discs to cause relative rotation between the first and second discs; and wherein the first surface profile and the second surface profile are configured such that the first and second discs have a maximum rotational range of motion greater than +/- 45 degrees relative to each other.