This technical report details the derivation of the static models of two antagonistically actuated joints: revolute (R) joint and antiparallelogram (X) joint. The wrench-feasible workspace (WFW) and stiffness characteristics of these joints are studied with numerical examples. Based on this study, several templates have been considered for the WFW for these joints. The nature of joint stiffness in each of these templates is characterized in a case-wise manner. Finally, a WFW template that is most suitable for designing these joints is identified.