Set limits of joint's movement in relation to connected rigidbody

I created a humanoid character in Unity using Ragdoll Wizzard and now I am trying to set the properties of each CharacterJoint. To each joint I also added following script:

 using UnityEngine;
 using System.Collections;

 public class MoveJoint : MonoBehaviour {

     public float minXTiltAngle = 10.0F;
     public float maxXTiltAngle = 10.0F;
     public float minYTiltAngle = 10.0F;
     public float maxYTiltAngle = 10.0F;
     public float minZTiltAngle = 10.0F;
     public float maxZTiltAngle = 10.0F;
     public float smooth = 10.0F;

     Transform jointTransform = null;
     private float initialXRotation;
     private float initialYRotation;
     private float initialZRotation;

     // Use this for initialization
     public void Start () {
         CharacterJoint characterJoint = gameObject.GetComponent( typeof(CharacterJoint) ) as CharacterJoint;

         if (characterJoint != null) {
             jointTransform = characterJoint.transform;

             initialXRotation = jointTransform.eulerAngles.x;
             initialYRotation = jointTransform.eulerAngles.y;
             initialZRotation = jointTransform.eulerAngles.z;
         } 
     }
 
     // Update is called once per frame
     public void Update () {

         float tiltAroundX = 0.0F;//initialXRotation;
         float tiltAroundY = 0.0F;//initialYRotation;
         float tiltAroundZ = 0.0F;//initialZRotation;
         bool move = false;

         if (Input.GetAxis("Vertical") != 0.0F) {
             tiltAroundX = Input.GetAxis("Vertical");
             if (tiltAroundX <= 0) tiltAroundX = tiltAroundX * minXTiltAngle;
             else tiltAroundX = tiltAroundX * maxXTiltAngle;
             move = true;
         }
         if (Input.GetKey("e")) {
             tiltAroundY = 1.0F * maxYTiltAngle;
             move = true;
          } else if (Input.GetKey("q")) {
             tiltAroundY = -1.0F * minYTiltAngle;
             move = true;
         }

         if (Input.GetAxis("Horizontal") != 0.0F) {
             tiltAroundZ = Input.GetAxis("Horizontal");
             if (tiltAroundZ <= 0) tiltAroundZ = tiltAroundZ * minZTiltAngle;
             else tiltAroundZ = tiltAroundZ * maxZTiltAngle;
             move = true;
         }

         if(move) MoveWithKey(tiltAroundX, tiltAroundY, tiltAroundZ);
     }

     void MoveWithKey(float tiltAroundX, float tiltAroundY, float tiltAroundZ){

         Quaternion target = Quaternion.Euler(initialXRotation + tiltAroundX, 
         initialYRotation + tiltAroundY,    initialZRotation + tiltAroundZ);

         jointTransform.rotation = Quaternion.Slerp(transform.rotation, target, Time.deltaTime * smooth);
     }
 } 

The script just takes input from the user and applies move to the joint (respecting initial rotation). Initial angles are set to 10, but I changed them for every joint in Unity. And here comes my question. How can I set some limits of joint's movement in relation to rigidbody to which it is attached? Below I give screenshots, which may explain what I mean.

How should the leg look, when limits applied: What I get now: