Here's another consept I thought of that would give us some extra control over our toris:

Instead of being only able to click the joint once and set it to go in one direction on full force we could keep the mousebutton pressed after clicking and move it to the direction we want the joint to rotate and the joint will use more force to rotate in the direction, the farther we move our mouse.
So for example if you clicked the lumbar joint, and move it to the left a bit you could make it start bending to the left with half of it's power.
There could be a graphic indicating the movement when we set it up. Maybe an arrow that's moving around the joint with the speed and and direction we set for the joint or a just a simple slider that fills up.
Maybe if we also had joints that could rotate on multiple axis, the rotated axis could be determined by the angle of the camera or whether you're moving the mouse up/down or left/right.