How to have sprite limbs affected by physics

New to Unity in general, but brand new to sprites and bones and all that. Having trouble googling the right question to find an answer, but I bet it has been asked and answered in the past: How do I have the limbs of a sprite be affected by rigidbody physics and collisions? Specifically, I would like the limbs to react to a collison, but always try to spring back into place.

Thank you very much.

 

Try "active ragdoll unity".
In 2D case You i'll probably have to combine spring joints with hinge/slider joints because there is none springed 2D hinge joint nor ConfigurableJoint 2D alternative.