Hi, my apologies, late working etc, then when I get home I remember I wiped my mac recently so didn’t have C4d! So, this is made with the R23 trial. Very basic but I guess you can see what I’m getting at. The stretch parameter is within the IK tag. You would also need to add maybe more joints and constraints to allow the IK target to rotate the wrist, or more joints to have more granular control of each section. Shout back if I can help further