We have created a sketch-based combined modeling and rigging tool that we'd love for you to try. We call it RigMesh.
It is sketch-based, meaning that you create shapes by drawing the silhouettes of parts. The parts are automatically rigged with bones and skin weights. You model by attaching parts together (merging) and cutting them apart. You can also pose and deform the model or its parts with inverse kinematics. (...)
RigMesh is a research prototype, so it lacks most of the "polish" of commercial software.