I'm interested in this subject for educational purposes. I myself was unable to get such software. The only applications I was able to find are these for manual modelling, but these don't interest me.
However, I found two papers with interesting solutions:
 "Torus Figure Generating System Based on Graph Theoretical Representation and Topological Analysis"
This one is fine. You provide a flat figure as input, and you get 2-D multi-bar impossible object in output.
However, neither ...