plane joint
action, DoF, Example
action: 2 translational, 1 rotational
DoF: 3
Example: tarsal bones
hinge joint
action: flexion/ extension
DoF: 1
Example: knee, elbow, finger
condyloid joint
action: flexion/extension, AB/AD, circumduction
DoF: 2
Example: carpal and radial bones
saddle joint
action: flexion/ extension, AB/AD
DoF: 2
Example: sternoclavicular, first carpal
pivot joint
action: rotation
DoF: 1
example: antlantoaxial
ball and socket
Action: circumduction, internal rotation/ external rotation, AB/AD, flexion, extension
DoF: 3
example: glenohumeral joint