“…Further, human physiology is multiarticular, meaning that there exist many-to-one and one-to-many relationships between muscles and joints (e.g., the flexor digitorum profundus muscle controls over 3 joints for each digit of the hand) [27]. Critically, the human hand is also overactuated, meaning that there are more muscle forces than degrees of freedom (i.e., approximately 39 muscles collectively control 23 joints in the human hand) [49].…”