I'm making soft doll parts that mimic hard ones (like porcelain dolls or old fashioned play dolls. I want the arms and legs to swing, and I want them to keep their shape. This is my design so far. I put round pieces of wood in the very ends and made a gathering stitch to close them up.
In this picture, you can sort of see where this is going. You are looking at an inside-out body pattern, and I'm inserting the leg through the neck and into the "leg" area of the body. It's closed, like a small bag. The other leg is already in, as you can see.Later I'll secure the legs and turn the body. Hopefully they will come out straight the first time!