diff --git a/src/bone.cpp b/src/bone.cpp
index 91bb347..670bf6a 100644
--- a/src/bone.cpp
+++ b/src/bone.cpp
@@ -19,12 +19,18 @@ void UltraleapBone::_bind_methods() {
     ClassDB::bind_method(D_METHOD("get_next_joint"), &UltraleapBone::get_next_joint);
     ClassDB::bind_method(D_METHOD("set_next_joint", "next_joint"), &UltraleapBone::set_next_joint);
 
+    ClassDB::bind_method(D_METHOD("get_center"), &UltraleapBone::get_center);
+    ClassDB::bind_method(D_METHOD("set_center", "center"), &UltraleapBone::set_center);
+
     ClassDB::bind_method(D_METHOD("get_translation"), &UltraleapBone::get_translation);
     ClassDB::bind_method(D_METHOD("set_translation", "translation"), &UltraleapBone::set_translation);
 
     ClassDB::bind_method(D_METHOD("get_width"), &UltraleapBone::get_width);
     ClassDB::bind_method(D_METHOD("set_width", "width"), &UltraleapBone::set_width);
 
+    ClassDB::bind_method(D_METHOD("get_length"), &UltraleapBone::get_length);
+    ClassDB::bind_method(D_METHOD("set_length", "length"), &UltraleapBone::set_length);
+
     ClassDB::bind_method(D_METHOD("get_orientation"), &UltraleapBone::get_orientation);
     ClassDB::bind_method(D_METHOD("set_orientation", "orientation"), &UltraleapBone::set_orientation);
 
@@ -63,6 +69,16 @@ void UltraleapBone::_bind_methods() {
         "get_next_joint"
     );
 
+    ClassDB::add_property(
+        "UltraleapBone",
+        PropertyInfo(
+            Variant::VECTOR3,
+            "center"
+        ),
+        "set_center",
+        "get_center"
+    );
+
     ClassDB::add_property(
         "UltraleapBone",
         PropertyInfo(
@@ -83,6 +99,16 @@ void UltraleapBone::_bind_methods() {
         "get_width"
     );
 
+    ClassDB::add_property(
+        "UltraleapBone",
+        PropertyInfo(
+            Variant::FLOAT,
+            "length"
+        ),
+        "set_length",
+        "get_length"
+    );
+
     ClassDB::add_property(
         "UltraleapBone",
         PropertyInfo(
@@ -151,4 +177,9 @@ void UltraleapBone::fill_bone_data(Ref<UltraleapBone> ul_bone, LEAP_BONE* bone,
         ul_bone->rotation = relative_bone_transform.basis.get_quaternion();
         ul_bone->translation = relative_bone_transform.origin;
     }
+}
+
+void UltraleapBone::compute_bone_data(Ref<UltraleapBone> bone) {
+    bone->center = (bone->prev_joint + bone->next_joint) / 2.0f;
+    bone->length = (bone->prev_joint - bone->next_joint).length();
 }
\ No newline at end of file
diff --git a/src/bone.h b/src/bone.h
index 027300b..a82bc42 100644
--- a/src/bone.h
+++ b/src/bone.h
@@ -33,8 +33,12 @@ public:
 
     Vector3 prev_joint;
     Vector3 next_joint;
+    Vector3 center;
     Vector3 translation;
+
     float width;
+    float length;
+
     Quaternion orientation;
     Quaternion rotation;
 
@@ -48,12 +52,18 @@ public:
     Vector3 get_next_joint() { return next_joint; }
     void set_next_joint(Vector3 value) { next_joint = value; }
 
+    Vector3 get_center() { return center; }
+    void set_center(Vector3 value) { center = value; }
+
     Vector3 get_translation() { return translation; }
     void set_translation(Vector3 value) { translation = value; }
 
     float get_width() { return width; }
     void set_width(float value) { width = value; }
 
+    float get_length() { return length; }
+    void set_length(float value) { length = value; }
+
     Quaternion get_orientation() { return orientation; }
     void set_orientation(Quaternion value) { orientation = value; }
 
@@ -61,6 +71,7 @@ public:
     void set_rotation(Quaternion value) { rotation = value; }
 
     static void fill_bone_data(Ref<UltraleapBone> ul_bone, LEAP_BONE* bone, BoneType type, LEAP_BONE* previous_bone, LEAP_PALM* palm);
+    static void compute_bone_data(Ref<UltraleapBone> bone);
 protected:
     static void _bind_methods();
 };
diff --git a/src/hand.cpp b/src/hand.cpp
index 76f5d14..098f2a0 100644
--- a/src/hand.cpp
+++ b/src/hand.cpp
@@ -55,6 +55,9 @@ void UltraleapHand::_bind_methods() {
 
     ClassDB::bind_method(D_METHOD("get_digits"), &UltraleapHand::get_digits);
 
+    ClassDB::bind_method(D_METHOD("set_wrist", "wrist"), &UltraleapHand::set_wrist);
+    ClassDB::bind_method(D_METHOD("get_wrist"), &UltraleapHand::get_wrist);
+
     ClassDB::add_property(
         "UltraleapHand",
         PropertyInfo(
@@ -223,6 +226,16 @@ void UltraleapHand::_bind_methods() {
         "",
         "get_digits"
     );
+
+    ClassDB::add_property(
+        "UltraleapHand",
+        PropertyInfo(
+            Variant::TRANSFORM3D,
+            "wrist"
+        ),
+        "set_wrist",
+        "get_wrist"
+    );
 };
 
 void UltraleapHand::fill_hand_data(Ref<UltraleapHand> ul_hand, LEAP_HAND* hand) {
@@ -254,4 +267,6 @@ void UltraleapHand::fill_hand_data(Ref<UltraleapHand> ul_hand, LEAP_HAND* hand)
     UltraleapDigit::fill_digit_data(ul_hand->get_pinky(), &hand->pinky, UltraleapDigit::FingerType::Pinky, &hand->palm);
 
     UltraleapBone::fill_bone_data(ul_hand->arm_ref, &hand->arm, UltraleapBone::BoneType::Arm, NULL, &hand->palm);
+
+    ul_hand->wrist = Transform3D(Basis(ul_hand->palm_ref->orientation), ul_hand->arm_ref->next_joint);
 }
\ No newline at end of file
diff --git a/src/hand.h b/src/hand.h
index 8ac614c..11c66e0 100644
--- a/src/hand.h
+++ b/src/hand.h
@@ -30,6 +30,8 @@ public:
     float pinch_strength;
     float grab_strength;
 
+    Transform3D wrist;
+
     // Getters / Setters
     float get_confidence() { return confidence; }
     void set_confidence(float value) { confidence = value; }
@@ -87,6 +89,9 @@ public:
         return digits_array;
     }
 
+    Transform3D get_wrist() { return wrist; }
+    void set_wrist(Transform3D value) { wrist = value; }
+
     static void fill_hand_data(Ref<UltraleapHand> ul_hand, LEAP_HAND* hand);
 protected:
     static void _bind_methods();