Gliding Joint: Flat or slightly curved surfaces of bones articulate. Sliding or twisting in various planes is possible. Examples: the joints between the bones of the wrist and between the bones of the ankle.
Hinge Joint: The convex surface of one bone articulates with the concave surface of another. Up-and-down motion in one plane is possible. Examples: the elbow and knee joints.
Ball-and-socket joint: The ball-shaped head of one bone fits into the cup-shaped socket of another. Movement in all planes, as well as rotation, are possible. Examples: the shoulder and hip joints.
Saddle joint: Each bone is saddle-shaped and fits into the complementary regions of the other. A variety of movements are possible. Example: the joint between the carpal and metacarpal bones of the thumb.
Pivot joint: A small, cylindrical projection of one bone pivots within the ring formed of bone and ligament of another bone. Only rotation is possible. Examples: the joint between the proximal ends of the radius and ulna, and the joint between the atlas and axis.
Condyloid joint: The oval-shaped condyle of one bone fits into the elliptical cavity of another. Movement in different planes is possible, but rotation is not. Examples: the joints between the metacarpals and phalanges.