Welcome, Notorious.

This is a common problem that a lot of people have. You are losing the dream and getting stuck between asleep and awake. I've had all sorts of body distortions like you are describing.

Try to find some good techniques for dream stabilization and dream re-entry. There are all kinds of things you can do. To stabalize a dream as soon as you become lucid, try touching your surroundings, feeling the textures of things, or rub your hands together to feel your own dream body.

To re-enter a dream, relax and visualize the dream you just left. Again, try to imagine more than just the images. Try to really engage your senses in the visualization.