I'm not sure if the modern competitive rowing boats are a good comparison because don't the seats on those slide back and forth? Galleys certainly didn't and I've never rowed an ordinary boat that did.
Yes, the slide (as shown in the pic I attached) is the main difference, enabling the maximum thrust from the rowers strongest muscles, her legs, On a static bench you make more use of your arms and trunk, but it's still important to use your legs to get maximal power. If the stretcher is positioned so your knees are flexed, with each stroke you'd swing your trunk back and probably lift your butt as you press with your legs and pull with your arms.
And the slave rowers were somehow (probably by ankle chains) secured to their stations. Freedom of movement is not something the captain of the vessel wants since his free crew might be outnumber by 10 or so to 1 by the rowers.
I said our wrists should not be chained to the oars, as Loxuru said, freedom of (hand an arm) movement is needed. Of course our feet and ankles would be restrained.
With the galley beached overnight (as they invariably were) the crews slept on the beach not on board.
I find that hard to believe. Beaching a substantial vessel requires clever seamanship to avoid damage, and a lot of hauling. If we galley-slaves can't be trusted, we couldn't be let loose to help with the hauling, so we'd have to stay aboard, adding to the weight. On the Atlantic coast, at least vessels can come in on the tide and be grounded and made secure when it ebbs, in the Med there isn't even that help. I think much more likely that, for short stays, vessels were anchored offshore in sheltered bays, and the crew and slaves slept at their stations, no doubt sufficiently exhausted to sleep wherever they got a bit of space to flop down on.
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