Kind of an interesting solution here where I have the lower arm controlled by the torus, with the other arm bones constrained to the lower arm. The sphere controls the head at 1 chain length and is parented to the torus. With all my constraints it works out such that grabbing the torus controls the vertical motion of the arms, and rotating the torus controls the rotation of the head.
The torus is then parented to the control circle at the base. The smaller object at the top left controls the vertical rotation of the neck, and is also parented to the base.
