Get some small weights (only 1 - 2 kg) and very slowly move your hand back and forward while holding the weight, i.e. wrist flexion and extension, try to use your whole range of movement. Get a squishy ball and squeeze it at least 30 times a day with each hand. You can also make your own slosh pipe to strengthen wrist stabilising muscles. These exercises came from a specialist hand physiotherapist I saw about my own wrist injury. I always wear tiger paws now, they don't weaken your wrists, just stabilise them and prevent them from extending too far and too quickly.
For ankles, do lots of foot circles in both directions. You can also use a theraband and practice 'writing' with your foot. Using a wobble board can also help. You can also do lots of calf raises slowly on one foot, going up to high releve then slowly lowering down. If you do these on a step you can also lower your heel down a bit further. Even just practice going up into high releve on two feet and hold - around the house or wherever, you can do this anywhere anytime.