Models to articulation

Some simple Joints can be made from scratch such as simple mushroom joints and socket joints but for all more complex joints I suggest finding figure body parts that are about the right size, and cutting out the section of the figure you want to put a joint into, then cutting the joint to fit and glueing it in. Then I'd sculpt over parts of the surface to make it blend smoothly where you placed it. I also here that Revoltech joints work pretty well although I've never used them myself. Here is a link to a tutorial that might help you for some of the basic joints, for anything else just ask and I'll post pictures if I have them to demonstrate
http://www.figurerealm.com/viewcustomtu ... view&id=27