you want your three gimbal axes represent a somewhat "forward, side, up" alignment. it's just really up for the rigger to decide. for limbs this _most_of_the_time_ (but not always) represents next bone as "forward" (X), and bending axis as "side" or "up". "not always", would be, example, orienting the wrist bone (the one that when rotated, rotates palm area) - i usually pick X as looking to index finger, Y stays in paralel with the imaginary plane of the palm and Z represents the "normal" of the palm plane. just the usual "forward, side, up" pattern.