The development of a humanoid robot within the scope of the collaborative research centre 588 has the objective of creating a machine that can cooperate with humans closely. In contrast to industrial robots – for which mechanical rigidity, precision or high velocities are primary requirements – the key aspects here are prevention of hazards to users, a motion space that corresponds to that of human beings, and a lightweight design. In order to meet these requirements, the robot must have humanlike appearance, motion space, and dexterity. This article gives insight into the design of a new wrist for the next generation of the humanoid robot ARMAR. The goals of the development project are both to improve the motion space and to achieve a humanlike appearance. The new mechanical design is described in detail completed by a study of a first prototype.