Neurological movement disorders such as stroke or sensory neuropathy are associated with somatosensory deficits. From a neurorehabilitation perspective, the assessment of proprioceptive function is important for planning and applying adequate rehabilitation treatments. Numerous behavioral and psychophysical methods are available to measure proprioceptive acuity. However, no universally accepted and adopted protocol exists. In recent years robotic devices have increasingly been used to investigate and assess proprioceptive function, but few studies have focused on the wrist joint. To fill this knowledge gap, this study aimed to systematically map the proprioceptive acuity of the wrist for its two joint degrees of freedom (DoF)-flexion/extension (FE) and abduction/adduction (AA). Twenty eight healthy young adults performed an ipsilateral, active joint position matching task using a robotic device. As a measure of proprioceptive acuity we determined the error between target position and the matched joint position. Results showed that: first, proprioceptive acuity varied between the two joint DoF with the matching error for AA being lower than the FE. Second, within each DoF, the motion direction did not affect the accuracy. Third, the radial component of the matching error showed DoF dependence: The FE movements tended to undershoot, while the AA movement overshot the target position. Results are indicative of a joint DoF dependent anisotropy of wrist proprioceptive acuity.