Attached points to other object, how to affect it on character controller?

Unity Engine
1

Hi, I finished script of attaching hands targets of my mesh to other objects with rigidbody, now I don’t know how can I add force to it for dragging them and blocking movement of character controller.
This can be helpful to understand: http://www.youtube.com/watch?v=smjuC6vGkMo&feature=youtu.be

Edit:
New problem in new post.

2

I get it to work with spring joint, it’s not working good enough but I will work on it, but there is new problem.
When I move box, position of attached points are stilll on the same place, but springJoint’s connected anchor position is in perfect place, but connected anchor in Vector3 and have only x,y,z parameters, not transform positions. How can I calculate or something to get connected anchor’s precise position?