Whilst there are many warmup routines, the most useful ones focus the mind as well as work the fingers. Routines such as this one by Ysaye have an engaging meditative quality which encourages frequent use.
Practise it both with and without vibrato. Notice how the arms move in contrary directions to each other which helps balance in the whole body.
Also challenge your coordination by starting this exercise on the upbow.
- for Exercises & Scales by Ysaye
- for The Art of Practising the Violin by Gerle, ch.11