Simulating human body movements

I'm currently trying to use TGB 1.7 to simulate a real life human body movement.

I was wondering is it possible to do it without using box2d.

What I experience was if I use the Follow Mouse behavior to interact with the joints, only the object that I click onto will move whereas the other objects mounted to it will remain rigid. What I wanted to achieved is a ragdoll like movement where if I mouse dragged the hand, the elbow and shoulder will also move along.

I have came across a similar question I'm looking for but somehow the direction doesn't seem quite clear.
http://www.garagegames.com/community/forums/viewthread/95831

Any advise or suggestion will be much appreciated. :)