2D Rubber hands (Weird question)

I want to attach some rubber hands to an object with a Rigidbody2D. As you can see the hands have colliders and bend when touching something.

How the hell do I make something like this? xD

Thanks!

I think that you need the Hinge Joint component in Unity. This is what you use to create ragdolls. Here is a great tutorial on how they work. Unity 2D stick figure ragdoll tutorial - YouTube

I also created a scene as an example of what I think you want and you can use it as a basis for what you are trying to create.
https://drive.google.com/open?id=1PWeEdZ_PixgJ6bzuBrG4MNIw4NtnxJJ0
. Also the scene is in 2019.1.3 but it should work in slightly earlier versions.