Rigid Body Physics question

Hello all, I am working on a robot character who has different body segments. I want these segments to be attached by wires, so that when the top segment is moved, the other segments which hang down from it will sway and swing accordingly and physically accurate ways. What is the best way to create these wires to connect two large meshes (the segments) and have them attach and operate according to physics? I have attached an image to better explain.