It's a single axis version of a system my group at NASA developed: https://roundupreads.jsc.nasa.gov/pages.ashx/787/New%20weara... The internal application was to improve mobility in space suits. We had a partnership with some medical researchers looking to help patients with otherwise limited mobility. Shoulders are difficult. The human body has a lot of amazing degrees of freedom. One of the biggest challenges was…
A lot of the design of the human body sacrifices strength for mobility and range of motion. Most muscles have really unfortunate mechanical leverage, to the degree it's quite impressive we're so strong as we are. Adding to that, without completely butchering mobility is probably no easy task.
A lot of the typical difference between the male and female upper body comes down to this specialization. There is some evidence of facial adjustment to punching, but we could hit much harder with a more chimp-like shoulder, this doesn't require knuckle walking: but we wouldn't throw a spear as far nor as accurately.