Arc System Works learned this while making Guilty Gear Xrd and applied it further to Dragon Ball FighterZ.
A 1-hour GDC presentation about GGXrd by one of the devs:
https://www.youtube.com/watch?v=yhGjCzxJV3E
An animator talking about both games:
https://www.youtube.com/watch?v=kZsboyfs-L4
While both of those focus more on the animation aspect, they still touch upon the fundamental aspect of hand drawings usually being "imperfect" as opposed to computer renders usually being "perfect".