if you get separate arms and legs, you DON'T have to put joints in. hot glue the arms and legs on.
I do minis about 3 1/3-4" high ones, and glue on the head and arms and legs and tie a pretty ribbon around the neck. Sometimes, I've done as 20 mini memory bears, and this is how I do them. good luck, show us what you do. don't forget to stuff them firmly.