Apply force to character based on thrusters attached to a hand like objects (multiple sources)

I have a rigidbody character with 2 capsule objects to represent it’s hands. These hands are going to have thrusters attached to them to propel the character based on the direction and a float value of how much force is to be applied. The hands can rotate in all directions. I have attached a Debug.DrawRay in the picture that is longer depending on how much force to apply.

If both hands are pointing directly up, the character should be moved upward.

I know that I will probably need to provide more information to clarify the desired outcome, I am just not sure what information that will be at this stage. Below I have included my current code and an image of what I am trying to work with.

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class PlayerController : MonoBehaviour {

    Rigidbody rb;

    public GameObject leftHand;
    public GameObject rightHand;
    public GameObject feet;
    public GameObject thrustTarget;

    public float playerHeight = 1.6f;

    public float leftThrust = 0.0f;
    public float rightThrust = 0.0f;

    public float leftThrustMax = 100.0f;
    public float rightThrustMax = 100.0f;

    public float leftFuel = 100.0f;
    public float rightFuel = 100.0f;

    public float leftAcc = 10.0f;
    public float rightAcc = 10.0f;

    public float leftDec = 10.0f;
    public float rightDec = 10.0f;

	void Start () {
        rb = GetComponent<Rigidbody>();
        feet.transform.position = new Vector3(0,-playerHeight,0);
	}

	void Update () {

        if(Input.GetKey("a")) {
            leftThrust += leftAcc * Time.deltaTime;
        } else {
            leftThrust -= leftDec * Time.deltaTime;
        }

        if(Input.GetKey("d")) {
            rightThrust += rightAcc * Time.deltaTime;
        } else {
            rightThrust -= rightDec * Time.deltaTime;
        }

        if(leftThrust > leftThrustMax) { leftThrust = leftThrustMax; }
        if(rightThrust > rightThrustMax) { rightThrust = rightThrustMax; }

        if(leftThrust < 0) { leftThrust = 0; }
        if(rightThrust < 0) { rightThrust = 0; }
    }

    void FixedUpdate () {
        Debug.DrawRay(leftHand.transform.position,-leftHand.transform.up * (leftThrust / 100),Color.red);
        Debug.DrawRay(rightHand.transform.position,-rightHand.transform.up * (rightThrust / 100),Color.red);

        
    }
    
}

I added the following and it seemed to work. Will leave this here for others in case it helps:

rb.AddForceAtPosition(leftHand.transform.up * leftThrust/10),transform.position,ForceMode.Acceleration);
rb.AddForceAtPosition(rightHand.transform.up * (rightThrust/10),transform.position,ForceMode.Acceleration);