Animations Ragdoll

How could I prevent the character from sinking his hands to the ground after the ragdoll effect when standing up?

Full Body IK is about the only reliable way.

Test head, spine 2, pelvis, lower_arm / hand.

And adjust via IK setups accordingly.
Now that Control Rig supports stuff you should be able to use it for this with very minimal coding involved.

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Thanks You.