Hi, I have a few questions about specific joints. First, I'm not really sure what type of joint connects the ulna and the hand. I think the connection between the radius and the hand is an ellipsoid, but I'm not sure about the ulna. Maybe it's a ball and socket joint? I have the same question about the connection between the talus (ankle) and the calcaneus (heel). I've looked at a few diagrams and there does seem to be a joint there, but I'm not sure what type it is. I think it might be a hinge or ellipsoid.