Algorithms or methods used to create ragdolls?

Due to the lack of there being a 360 degree hinge, I know creating a ragdoll probably isn't easy. It might take welds that change their cframe constantly determining things such as current velocity and objects that might be in the way of the part. However, I was wondeeing if there was a way around this. Could I theoretically use RocketPropulsion to keep the player's limbs attatched to the torso, but still allow them to rotate freely? I would weld an invisible part to where the limb should be next to the torso, and another in the shoulder/thigh of the limb, and parent the RocketPropulsion to that part. If that won't work though, would someone mind pointing me in the right direction? thanks.