To that end, I'd like to try to build a maximally ergonomic setup (for the back and neck in addition to the hands) that doesn't necessarily have to conform to the standard chair+desk setup (e.g. a custom setup where one lies on their back with their monitor suspended above their face and their hands lying to their sides with a split keyboard).
In order to do that, I need the principles of ergonomics for the hands/wrists/arms, neck, and back - something that's been very challenging to find on the internet, as most of my search results are either trivial knowledge, blogspam, or just regurgitate the standard advice about various joints being at right angles without revealing the principles that drive that advice.
Where can I find those principles?