[Cyph0n]

But the issue there is the joints, right? As far as I know, they were either exposed completely, like at the shoulder, or not flexible enough for fast-paced combat.

[actsasbuffoon]

Yes, I believe the joints were usually weak points. Swords-people used a technique known as half-handing, where they'd keep one hand on the hilt, and use the other hand to grip near the tip of the blade. That allowed them to use the sword more like a dagger, which gave better accuracy for maneuvering into the joint, while also giving them greater leverage with the hilt-hand.

I was surprised that you can grip a blade with your bare hand, but apparently it's safe with a firm enough grip.

[Eupolemos]

*half-swording

[lobotryas]

You are not gripping the blade bear-handed: you would usually be wearing some kind of glove.

[Impl0x]

Half-swording can and was performed bare-handed as well.