One method I have used in the past is a direct casting method as follows.
Skin the foot using a back inscision,centrally down the back of the leg,starting just behind the main hooves, and continuing past the dew claws and up the leg to the top. Skin out the leg. Then make a two part plaster mould of the skinned out leg in what ever position you want. I use vaseline on the leg and between the halves of the mould. Once the mould is made, fill up both halves with papier mache (proper stuff using paper pulp and glue + plaster - or buy it from a craft store) and then set a length of studding into the wet papier mache and put mould halves together securing with cable ties (you will need to cut a channel for the studding). Leave in a dry place to harden for a few days and then tan the skin/hooves. Finally break the plaster mould to release the papier mache positive and you have a solid hard manakin to stitch the skin back around. The manakin is exactly the correct size for the skin you have and you should get no hair loss or slippage.
I know it probably sounds long winded but it is surprisingly quick, if you are used to making plaster moulds. Only downside to this method is that you have to make a new mould for each leg. Of course it would be posible to make a silicon rubber mould and fiberglass jacket, then you could cast hundreds, however they would all be the same size..
Another method is to carve a very fast leg out of pine using a dremel, and then just stitching the tanned skin around that ??
ATB
Lakey