Human-Like Doll Armature Design

I am developing a realistic doll and need a sturdy, lightweight inner frame that mimics basic human motion. The armature must be built from metal or aluminium tubing/rod so it can withstand repeated posing without adding excess weight. For the joints I am open to ball joints, hinged joints, or even flexible-wire sections—whichever you feel offers the cleanest solution for smooth, reliable basic movement (no extreme contortions required).

What I expect from you
• A complete mechanical concept that shows overall proportions, joint placement, and how each limb connects to the torso.
• CAD files or detailed technical drawings I can hand to a machinist or 3-D print shop.
• A concise parts list specifying diameters, fasteners, and any off-the-shelf joint components.
• Assembly notes explaining torque limits, lubrication (if any), and maintenance advice so the armature stays tight over time.

If you have experience designing puppets, stop-motion figures, or prosthetic training aids, that background will translate perfectly here. Please include examples of previous armature or small-scale mechanical builds when you respond so I can gauge fit.