Need way to connect via ssh to the nodes hosting gears for an application

Issue

I can connect directly to my application broker host using ssh. Is there a mechanism to determine the host/domain names of the nodes used to run the gears in a scaled application? The names are available in the ha_proxy configuration file, but is there something more reliable in the Broker REST API that can be used to get the names? Can I create a direct ssh to those hosts? Can I create an ssh tunnel through the broker host to the node hosts?