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Plane/gliding Joint
Non-axial The flat surface of one bone slides in many directions along the flat surface of another bone.

Hinge Joint
Uni-axial The rounded surface of one bone moves back and forth along one axis inside the rounded depression of another bone.

Pivot Joint
Uni-axial A rounded projection on one bone rotates back and forth in one direction inside a ring formed by another bone.

Condyloid/ellipsoid Joint
Bi-axial An oval shaped projection from one bone moves back and forth along two different axes inside an oval shaped depression of another bone. Circumduction is possible.

Saddle Joint
Bi-axial A concave depression of one bone fits inside a concave depression of another bone. The surfaces slide over each other along two different axes in two different directions.

Ball and Socket Joint
Multi-axial A spherical projection from one bone moves along many axes inside a spherical depression of another bone.

Jaw joint (temporomandibular)
hinge joint

neck (atlantoaxial)
pivot joint

neck (atlantooccipital)
condyloid (ellipsoidal)

sterno-clavicular
saddle joint

rib-vertebrae
plane joint

Shoulder
ball and socket joint

elbow (humeroulnar)
hinge joint

elbow (radioulnar)
pivot joint

wrist (radiocarpals)
condyloid joint (ellipsoidal)

wrist (intercarpal)
plane joint

knuckles (metacarpophalangeal)
condyloid joint (ellipsoidal)

Fingers interphalangeal
hinge joint

hip joint
ball and socket joint

Sacroiliac
plane joint

knee joint (femur-tibia)
hinge joint

knee (femur-patella)
plane joint

ankle (tibia-talus)
hinge joint

ankle (intertarsal)
plane joints

Toes (interphalangeal)
hinge joint
