Methods and systems for dynamically reconstructing handstate information based on multiple inputs are described. The methods and systems use data from multiple inputs including a plurality of neuromuscular sensors arranged on one or more wearable devices and one or more cameras. The multimodal data is provided as input to a trained statistical model. The methods and systems determine, based on the data from the multiple inputs, an estimate and representation of the spatial relationship between two or more connected segments of the musculoskeletal representation and force information describing a force exerted by at least one segment of the musculoskeletal representation. The methods and systems further update the computerized musculoskeletal representation based, at least in part, on the position information and the force information.