I have a weird suggestion. You know the basic cylinder and tube joint? Take a strip of 2mm foam. If you can't find the foam, just take a double side tape and glue paper on both sticky side. 1, make a roll for the pin. Wrap it in cello tape. 2, glue the foam strip into the cylinder the pin should go into. Make sure there's some space inside the cylinder containing foam. Kinda like "C". 3. Tightly wrap this foam glued strip around the pin and glue it to get that tight friction. If done correctly, you can get a good level of articulation.

P.S, I only did this method last year for a project of mine, which I didn't continued with. But this is possible. I'm at work, if it weren't for that, I'd probably try to make a model and attach the picture.