Since putting together the RobotRagdoll demo (http://www.ogre3d.org/phpBB2/viewtopic.php?t=3711), I've been working on a more generic way of implementing ragdoll physics for Ogre mesh/skeletons. The result is the RagdollEditor. This editor loads a mesh/skeleton, does a first pass at assigning Tokamak rigid bodies to the bones (using OgreTok), allows you to do some testing, and then saves to a .ragdoll format. Then to use the ragdoll in your game, use the reader class to load the .ragdoll file.
Following is a screenie of the main interface. You can see the robot outline (transparent), with the OgreTok objects representing the bones. Note the top left leg is a diff colour, meaning that bone is selected for editing. You can change the bone shape (sphere, cube, capsule), join type, size etc. (Note the instruction box at the top left of each screen).

Once your set your ragdoll up, the first test ensures the physics of the model is stable. If the ragdoll flys off the screen, two bones are too close together. The model should just slowly drift in space if it's stable.

Once it's stable, the next test can be run. This test pins the ragdoll in space by it's head, and you fire balls at it to see how it moves. (ignore the OgreTok hemispheres which are a bug).

There is a demo available in the editor which throws the ragdoll down a set of stairs.

I'm working on another demo where the robot is in it's base stance (with the ragdoll setup as a set of breakable bone), you fire the ball at it and it crumples to the ground. This involves detecting the breakage, clearing the breakable bones, then setting up the bones as dynamic object. It's pretty damn cool, but I'm getting Tokamak GP errors. I have a small concern that Tokamak may not be stable enough for me to implement some of the stuff that will really make this useful (ie. flipping to and from ragdoll physics to animation), but I'll keep going until I hit a showstopper (and them maybe look at ODE?).
If anyone is madly interested in this, I can post the code, however there is still a fair bit of work to do to really get it running properly, which will take a couple more weeks.