Try pulling apart the limbs on this rig
https://cgcookie.com/downloads/red-nelb-rig-blender-2-8x
It will be easier to use if you’re using an older version of Blender because the bone layers are non existent in 4.1 onwards.
But there are some bend controls in the middle of the limbs that are connected to a damped track on either end of a bendy bone.
Something like this will work.
