Springy Ragdoll?

Hello there

Is there a way to have a more "stiff" ragdoll, so each joint can have a value of stiffness/springyness, so I can animate it like a doll by moving the hips and the rest will follow?
I'm trying to simulate old marionette/rod dolls where I can move the hips (as if there was a stick attached to it). If I use a normal ragdoll only, my character will collapse.
Any direction would be much appreciated

Cheers, Dan