There are two states of muscle contraction, flexion and extension. There are tendons that connect your muscles to your bones and joints that pull on them to make this happen. Your bones and joints are constantly being pulled on both sides from the muscles and tendons. The default position that forms from this comes from the balance that forms where one side and the other are being pulled the same amount.
The muscles that make a fist are stronger than the muscles that make your hand flat, so your hand is pulled more that way until it balances out.
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