 The study presents a method to identify and decode musculoskeletal function using motor unit, MU, firing and twitch properties from high-density electromyography, HDMG, data of six lower leg muscles involved in ankle plantar dorsiflexion. The approach decomposes MU firing events, characterizes their twitch responses based on statistical distributions, computes MU-specific activation dynamics, and decodes ankle joint moments by linking the framework to a subject-specific musculoskeletal model. The proposed method achieves higher generalization across conditions than traditional EMG-driven models with significantly lower coefficients of variation in torque predictions. The study shows distinct neural strategies across a large repertoire of contractile conditions in different muscles, which may open new avenues for characterizing the relationship between MU firing and twitch properties and their influence on force capacity, facilitating the development of targeted rehabilitation strategies tailored to individuals with specific neuromuscular conditions. This article was authored by Antonio Gojaskoekia, Rafael Ornelas-Kobayashi, Atku Esyavuz, and others.