Hey I'm trying to rig megaman, but I made him half organic half hardsurface and I'm stuck on how to rig him.

I thought about parent constraining the hard surfaces, but then I'm left with the joints inbetween that I want to be able to deform, so how would I go about in doing this? As for the rubbers around the sockets, I want to be able to deform it when I'm moving, but I also want it to stay sewn around the socket, but it keeps moving. Tell me how you guys would do this. I can't seem to get it to work the way I want it to.

Here's an attached picture to give you an idea. I'm also going to be using set driven keys for the rockets' propellers.