Configurable joint / muscle physics

I'm just contemlating here, I'm not sure any of this
we know the angles

CharacterJoint.transform.localRotation
and force direction and velocity vector

we know the joints' masses

to calculate in the muscles dampening force scaling the impulse vector by joint's mass / full mass * force velocity
to use characterjoint targetvelocity to object future position (?)

this would apply for actors
for physical objects the force vector would be
Collision.impulse / fixedDeltaTime * collision.relativeVelocity (?)

and to project the limb object future position might use collision.contacts[0].point + force vector
using IK for limb chain based on which bodypart was hit (collision.collider.name)
and 1. lerping back to previous state
a.the IK to idle animation
b.the limb joint rotation w Quaternion.slerp

2. or going off balance animated reaction / ragdoll