I’m following this tutorial: https://www.youtube.com/watch?v=oWsoa9VxiBI
And he creates a bone at the wrist that he wants to use to manipulate the whole arm. So he extrudes the wrist bone, unparents it and then makes it keep its offset from the main hand bone. If you then turn the handle bone the mesh will also turn. However when you grab it the palm bone will simply be disconnected from the mesh.
Blend file: http://www.filedropper.com/makehuman1
Thanks in advance!