Advise needed. Three-point fixed sceleton with tensed joints

[Slava]

Greetings all !

First, let me to express my admiration for Bullet engine. Great job !

I'm newbee here and need some advise. My task is implementation of the human skeleton simulation in follow manner. Both hands (palms) and legs fixed on the vertical surface (like climbing sportsman on the wall). Then one hand or leg detach surface and pull to the some distant point (pulls by mouse pointer, no IK needed. When point is reached -- hand (or leg) fixes on that point. Then next hand (leg) choose another point and pulls to it. Whole skeleton must behave as if it has springs in each joint, so pulling of one hand must cause tensed deformation of the whole body (except three fixed points). No gravity will be affected. Whole skeleton must be solid strong, as if all muscles are tensed, without any shaking or fluctuating.

Is this task can be solved with Bullet ? Can somebody point me the right direction to start with ? Or maybe some good example (I found examples only for ragdolls without any springs/dumpers in the joints).

Thanks !