Where you put the sticks will make a difference, but if you are after that exact effect, I suspect you will need to have the two arm segments as two separate layers - so you can use “hinge” at the elbow joint. Anything with warping at the joint won’t get that little overlapping segment.
The forearm would be attached to the upper arm using an indepdent layer. I would put the forearm on top with a bit of a black line, but not all the way around the joint. i am not sure this will work, but something like the following.
Here are the two arm segments (in different colors for clarity).

When they overlap, you see some of the forearm black line over the underneath layer.

it might take some experimentation to get it right. But i think two independent layers will be required to avoid warping,
However, careful placement of sticks will reduce the distortion you are seeing,