I think I already use My wrist and fingers to hit drums. My elbows don't move at all when I repeatedly play the same drum. Dunno if My grip is any good, I just followed the advice to hold the sticks in a loose grip.

Yesterday while practicing I realised I can get a crisp single hit if I let the stick bounce and don't hold it too loose or too tight. But if I want the hit to gain some texture, I can keep pushing the stick down after the first hit. It'll bounce on the pad a couple times before it stops.