Basically take a quick line drawing in blender and thicken it up and then round it with a subdivision modifier.
Generate an armature modifier.
Apply the subdivision and skin modifier on a copy of the model, then reuse the armature from the original model.
From edit mode, use Ctrl-A to change the x/y thickness of a joint.
https://docs.blender.org/manual/en/latest/modeling/meshes/editing/mesh/transform/skin_resize.html
https://www.blendernation.com/2021/10/10/fast-character-modeling-with-the-skin-modifier/