More than likely you will always have some wrist involvement when playing the drums.
Playing with fingers only is using the French grip. Palms face each other, thumbs on top and fulcrum betweeen thumb and index finger. Use the middle, ring and pinky fingers to make the stick stroke. This is a hard one to practice slowly because it is primarily designed for speed. As you practice this, pay strict attention to controlling the sticks as they can get away from you and play all over the drum. This is the preferred grip for Timpani.
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