For characters and creatures that are meant to be realistic one aspect to keep in mind is the tendency for natural shapes and body solutions that minimise energy consumption. In humans and animals the bulk of muscles is kept closer to the body away from the end of the limbs. Doing this is much less strain and means the limb can be moved or accelerated much quicker- its sort of the difference between holding a brick out at arms length and holding it in to your chest- of having two bricks in a backpack versus tying one to each foot. Often animals have things at the end of limbs that appear broad but are not bulky- or broad and flat say. In the case of characters for games the need for visibility at small on screen sizes means that extreme and impractically sized hands feet or claws are needed or acceptable.
When inventing a creature that has muscles it is useful to remember that it takes at least 2 muscles to operate a joint (because muscles operate by contracting) but you could perhaps invent some other way a limb might works say(pneumatically , hydraulically or telescopically).
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