Synovial joints can be classified into 5 groups according to the type of movement they allow. In order of increasing complexity these are:

• gliding joints – for example, the joints in the wrist and ankle
• hinge joints – for example, the elbow and knee joints
• pivot joints – for example, the joint between the radius and ulna
• condyloid joints – for example, the joint between the wrist and forearm
• ball and socket joints – for example, the shoulder and hip joints.