| Name | Example | Description
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| Gliding joints (or planar joints) | the carpals of the wrist | -
| Hinge joints | the elbow (between the humerus and the ulna) and knee | These joints act like a door hinge, allowing flexion and extension in just one plane.
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| Pivot joints | the elbow (between the radius and the ulna) | -
| Condyloid joints (or ellipsoidal joints) | the wrist | A condyloid joint is where two bones fit together with an odd shape (e.g. an ellipse), and one bone is concave, the other convex. Some classifications make a distinction between condyloid and ellipsoid joints.
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| Saddle joints | the thumb (between the metacarpal and carpal) | Saddle joints, which resemble a saddle, permit the same movements as the condyloid joints.
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| Ball and socket joints | the shoulder and hip joints | These allow a wide range of movement. |