get Uvmapper Free and look for PHIBuilder (free)

setup your grouping in UVM. Eg L-Upperarm, L-Forearm etc
save this with groups on into your poser/runtimes/geometry/newfigures folder
open PHIBuilder and load in your OBJ.
arrange your figures grouping then save your PHI file.
open Poser and in the File menu import HIER File.
enter name as requested
goto New Figures and load in your new figure..
use the Joint Editor to adjust as needed.

(this method is more or less painless........ to a relative level of pain)