Yep, I immediately thought of Squigglevision and Home Movies (https://www.youtube.com/watch?v=CJcBL9JPfZw). Did it use the same algorithm as mentioned in the article, a noisy displacement map?

The first few Squigglevision shows were notorious for being cheaply hand drawn in their production so they probably got that effect the original way (using a base template and redrawing it by hand a lot without too much concern for continuity/cleaning between frames). I'd imagine in the age of Bob's Burgers (and 15 seasons of such) they are probably using digital drawing tools and emulating it, maybe with filters, when they feel they need it, but also the "squiggle" is nowhere near as pronounced as it was in the Dr. Katz and/or Home Movies days.