Binding yoga poses include positions where the arms are clasped around a leg.
I've also included positions, like some variations of lotus, where the hand grabs the foot.
Why improve muscle control?
Muscle control not only helps you to control your body, it also helps you to feel it.
Muscle activation creates the tension that not only moves your body, but helps you to "sense" it.
With better muscle control you can use your body with less effort and make it easier to balance, improve flexibility and deal with pain and poor posture.