Condylar (ellipsoid) joints—allow movement around two axes that are at right angles to each other; permit flexion, extension, abduction, adduction, and circumduction (limited) (e.g., wrist joint)
Saddle joints—allow movement around two axes that are at right angles to each other; the articular surfaces are saddle shaped; permit flexion, extension, abduction, adduction, and circumduction (e.g., carpometacarpal joint of the thumb)