The article Brian was refering to is by Kevin Zippel, Richard Glor and John Bertram, called "On caudal prehensility and phylogenetic constraint in lizards: The influence of ancestral anatomy on function in Corucia and Furcifer" It was published in the Journal of Morphology 239:143-155.
Basically Dr. Zippel and his colleagues compared the anatomy of tail musculature in two lizard species (Panther Chameleons and PTS) and discussed how their ancestry influenced the morphology. I'll assume you care very little about ancestry, but if you care a lot I'll let Brian explain it, as he's good at that.
Here's the gist of what they had to say about PTS tail morphology:
Imagine stacks of waffle cones arranged in a circle around a piece of chain. Each waffle cone is connected by rope the other waffle cones in its stack. Each stack of wafle cones is connected by rope to the other stack and all of the stacks are connected to the chain. Now imagine that one stack of cones is compressed on one side and curves away from the chain. All of the other stacks will also curve in the same direction, pulling the chain with them, since they're all connected.
This is basically how the musculature in a PTS tail works. The chain would be the spinal column, the ropes are tendons and each cone is a bundle of muscles.
I hope that's clear.
-Z