Active ragdoll - how to implement it?

Hi, all!

I want to implement active ragdoll for several reasons (mainly to achieve more believable look).
AFAIR it requires to run both animation and ragdoll for each bone and interpolate it. Shouldn’t be much
of the problem. Any ideas on how to implement it in Urho?

the effect in UE4: youtube.com/watch?v=WIHPF0XgosI