Here, I made an uncopylocked game that uses Inverse Kinematics (IK).
I used the FABRIK style IK. The game includes 2 modules, one (disabled) that allows the IK arm to be controlled using a part moved by handles, and another that creates a large group of IK arms that point toward your player’s hand.
I also included a documented module in the game that uses OOP to setup and run the IK.
IKHandlerModule.rbxm (3.5 KB)
However, one major problem is that the arm that the IK runs on often flickers between two or more sets of positions given a single end point. LMK if you have any suggestions to fix that and I hope this helps you with using IK 
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