Plane (multiaxial sliding and gliding), Hinge (uniaxial, flexion extension), Pivot (uniaxial, rotation), Condylar (biaxial, flexion and extension, rotation when flexed), Ellipsoid (biaxial, circumduction), Saddle (biaxial, flex, extend, abd, add, circum, rotation opposition), Ball and Soclket (flex, extend, abd, add, circum, rotate)