Techniques are hard to explain and even harder to measure if one is doing it “right”. We only know of cases when it goes wrong and some are forced to stop. I personally use a 6 point system from my first finger digit to my shoulder. The higher the number the more contribution of the muscles having to bring the hand to the correct position to which then the digits apply the least amount of pressure (equivalent to the # grams of the key which is 50-55 grams). For me it’s important the fingers apply minimum force to get the job right avoiding any non-finger variables. Furthermore the digits have a static and dynamic relationship to the wrists (which may also be static or dynamic). I also harness the power of gravity and never have any downward movements of the muscles; I lift up and drop down in small and large ways. This is on a subconscious level. I dont think about it unless somebody asks. It comes naturally due to time on non-piano activities. One good trick is to try to throw a good sleeper on a classic wooden yo-yo. A good throw requires relaxed wrists. Also, I ask the question how my hand-arm can simulate motions of a whip and what are limitations that prevent it from being 100% whip. And I dwell on that thought. The “Taubman approach” I hear is the popular way to go. It is not necessarily a technique but an approach for a piano player to constantly challenge their understanding of their hands .. if it’s in the most natural approach and having a holistic view of hands and their relationship to the entire body. Find the least awkward position, utilize a relaxed pose for as long as possible. Minimize any tensions, definitely no excess tension. There may be no mastery of a skill until one localizes every segment of the body-hands in such a way as to have independent control.