Using a roentgen-stereophotogrammetric measurement system, the three-dimensional kinematic characteristics of each carpal bone in two human wrist joints were obtained as the hands were moved in vitro through dorsopalmar flexion and through radioulnar deviation, both in the supinated and pronated positions of the hand. The results were described in terms of Euler rotation angles and showed that in flexion, the distal carpal bones may be considered as one fixed group while the proximal carpals may not. For the deviation motion, quite different rotational excursions for the carpal bones were observed, therefore, none of the two rows may be assumed acting as rigid groups. In both of the hand motions performed, all carpal bones moved synchronously and uniformly. These results demonstrate that accurate measurements of three-dimensional carpal-bone motions are feasible by using an adequately refined roentgen-stereophotogrammetric system. The detailed and precise kinematic information obtained can serve as a database for future developments of functional wrist-joint models, and will provide more insight into carpal-bone behavior, useful in clinical diagnosis and surgical reconstruction procedures.