Reddit reviews 2" X 6" X 20" Purple Foam Wedge
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6" wide x 20" long x 2" thickFirm yet lightweight high-density foamSupports joints and proper alignmentIdeal for yogis and yoginis with sensitive wrists
This is a relatively common issue, people with carpal tunnel syndrome often have trouble bending their wrist to ninety degrees. They make foam wedges to support your hand at a milder angle, you can also use a rolled up towel or yoga block. Pushup bars are another alternative if your range of motion is too restricted for a wedge. I linked to the first ones I found, but lightweight plastic might be better than metal for yoga.
It will take a little time to get used to having these things within arm's reach, but with practice you will learn to anticipate when you might need it and it will become easy and fluid.