I think the principle of minimizing the amount of torque an external force puts on your joints goes a long way to increase efficiency in movement.
When a force is exerted on you, if it torques your joints or your center of gravity it will tense you up and harm your balance if not injure you. If you can move and adjust in such a way that no torquing occurs, then
you can stay in the best condition to apply and return force.
What do you all think of this principle; the idea of not letting anything twist you up?