No, I have only the previous Poser Pro.

Not sure that would work.  I think it would simply drag the constrained hand with it, rather than make the whole arm move.

 

1.  Constrain figure 2's hand on figure 1's.

2.  Move figure 1's arm - figure 2's and would move, but the arm wouldn't.  The hand would stretch or bend or somehow deform as it was pulled by figure1's hand and by its own forearm.