Joints
| Joint Type | Axes of Movement | Primary Allowed Actions | Key Structural Example |
| Ball-and-Socket | Multi-axial | All movements + Circumduction | Shoulder / Hip |
| Hinge | Uni-axial | Flexion / Extension | Elbow / Knee |
| Pivot | Uni-axial | Rotation | Base of Skull (C1-C2) / Forearm |
| Condyloid | Bi-axial | Flexion / Extension / Abduction / Adduction | Wrist / Knuckles |
| Saddle | Bi-axial | Flexion / Extension / Abduction / Adduction / Opposition | Base of the Thumb |
| Plane | Non-axial / Variable | Gliding / Sliding | Wrist bones (Carpals) |