A medical instrument (140, 200) comprising: a wrist (220, 1300) comprising a first member (420, 520, 720, 820, 920, 1020, 1120, 1320, 1520) and a second member (410, 510, 710, 810, 910, 1010, 1110, 1310, 1510) coupled in series at a joint (400, 500, 700, 800, 900, 1000, 1100, 1302, 1304, 1500), the first member and the second member articulatable relative to each other about the joint from a neutral position; wherein the joint comprises: a first joint feature (421, 521) extending from the first member, the first joint feature having a first end surface profile defining a central protrusion (424, 524, 724, 924, 1024, 1524), a first outer protrusion (422, 522, 722, 922, 1022, 1122, 1522), a second outer protrusion (426, 526, 726, 926, 1026, 1126, 1526), a first recess (423, 980), and a second recess (425, 982), wherein the first recess and the second recess are on opposite sides of the central protrusion and between the first outer protrusion and the second outer protrusion, and wherein the central protrusion, the first outer protrusion, and the second outer protrusion have a rounded end surface profile, and a second joint feature (411, 511) extending from the second member, the second joint feature having a second end surface profile defining a central recess (416, 944, 1044, 1144), a first outer recess (413, 950, 1050, 1150), a second outer recess (415, 950, 1050, 1150), a first protrusion (412, 512, 712, 913, 1012, 1112, 1512) between the first outer recess and the central recess, and a second protrusion (414, 514, 714, 915, 1014, 1114, 1514) between the second outer recess and the central recess, and wherein, in the neutral position of the wrist, the central protrusion of the first joint feature is received within the central recess of the second joint feature, and wherein the first protrusion and the second protrusion have a tooth shaped end surface profile different from the rounded end surface profile of the first outer protrusion, the second outer protrusion, and the central protrusion, and different from the shape of the first recess and the second recess. a wrist (220, 1300) comprising a first member (420, 520, 720, 820, 920, 1020, 1120, 1320, 1520) and a second member (410, 510, 710, 810, 910, 1010, 1110, 1310, 1510) coupled in series at a joint (400, 500, 700, 800, 900, 1000, 1100, 1302, 1304, 1500), the first member and the second member articulatable relative to each other about the joint from a neutral position; wherein the joint comprises: a first joint feature (421, 521) extending from the first member, the first joint feature having a first end surface profile defining a central protrusion (424, 524, 724, 924, 1024, 1524), a first outer protrusion (422, 522, 722, 922, 1022, 1122, 1522), a second outer protrusion (426, 526, 726, 926, 1026, 1126, 1526), a first recess (423, 980), and a second recess (425, 982), wherein the first recess and the second recess are on opposite sides of the central protrusion and between the first outer protrusion and the second outer protrusion, and wherein the central protrusion, the first outer protrusion, and the second outer protrusion have a rounded end surface profile, and a second joint feature (411, 511) extending from the second member, the second joint feature having a second end surface profile defining a central recess (416, 944, 1044, 1144), a first outer recess (413, 950, 1050, 1150), a second outer recess (415, 950, 1050, 1150), a first protrusion (412, 512, 712, 913, 1012, 1112, 1512) between the first outer recess and the central recess, and a second protrusion (414, 514, 714, 915, 1014, 1114, 1514) between the second outer recess and the central recess, and a first joint feature (421, 521) extending from the first member, the first joint feature having a first end surface profile defining a central protrusion (424, 524, 724, 924, 1024, 1524), a first outer protrusion (422, 522, 722, 922, 1022, 1122, 1522), a second outer protrusion (426, 526, 726, 926, 1026, 1126, 1526), a first recess (423, 980), and a second recess (425, 982), wherein the first recess and the second recess are on opposite sides of the central protrusion and between the first outer protrusion and the second outer protrusion, and wherein the central protrusion, the first outer protrusion, and the second outer protrusion have a rounded end surface profile, and a second joint feature (411, 511) extending from the second member, the second joint feature having a second end surface profile defining a central recess (416, 944, 1044, 1144), a first outer recess (413, 950, 1050, 1150), a second outer recess (415, 950, 1050, 1150), a first protrusion (412, 512, 712, 913, 1012, 1112, 1512) between the first outer recess and the central recess, and a second protrusion (414, 514, 714, 915, 1014, 1114, 1514) between the second outer recess and the central recess, and wherein, in the neutral position of the wrist, the central protrusion of the first joint feature is received within the central recess of the second joint feature, and wherein the first protrusion and the second protrusion have a tooth shaped end surface profile different from the rounded end surface profile of the first outer protrusion, the second outer protrusion, and the central protrusion, and different from the shape of the first recess and the second recess.