I have drawn some sketches
The machine, where the ssh tunnel command is typed is called »your host«.


Introduction
local: -L Specifies that the given port on the local (client) host is to be forwarded to the given host and port on the remote side.
ssh -L sourcePort:forwardToHost:onPort connectToHost means: connect with ssh to connectToHost, and forward all connection attempts to the local sourcePort to port onPort on the machine called forwardToHost, which can be reached from the connectToHost machine.
remote: -R Specifies that the given port on the remote (server) host is to be forwarded to the given host and port on the local side.
ssh -R sourcePort:forwardToHost:onPort connectToHost means: connect with ssh to connectToHost, and forward all connection attempts to the remote sourcePort to port onPort on the machine called forwardToHost, which can be reached from your local machine.
Your example
Home computer runs linux
This is image number three of my sketches. Is your home computer running linux? And you have a remotehost somewhere in the internet which has ssh on it and you can simply access it from your home computer using
ssh remotehost
Then you surely have ssh installed and you don’t even need the router to create your tunnel. Use the following command on your computer (the blue box called yourhost represents your home computer):
ssh -R 11111:localhost:22 remotehost
Now if you are sitting at the remotehost and want to connect to your home computer via ssh, use this command
ssh -p 11111 homeuser@localhost
which will start a ssh connection to the green port 11111 on your remotehost, which is forwarded through the ssh tunnel (which even passes your busybox router) and connect to the pink port 22 of your home computer’s localhost (which is your home computer itself).
Of course busybox can also establish the tunnel
This is image number 4 of my sketches. You are now sitting at (or logged into) the busybox. So yourhost is the busybox router.
ssh -R 11111:nearhost:22 remotehost
Now when you are at the remotehost, you type again
ssh -p 11111 busyboxuser@localhost
to connect to the green port 11111 which is then forwarded through the tunnel to the busybox, and from there it is connected to the pink port 22 of the nearhost (representing your home computer).