How do you attach the hands of a ragdoll to another moving object?

I've created a ragdoll that I want to hang from a moving platform with his hands. I've tried parenting, modifying the joints but every time I try this, the rag doll goes all jittery and weird. I've also tried the dragRigidbody.cs script from the standard assets. So is there any way to parent only the hands of the rag doll to the moving object, and have the ragdoll dragged along with it? Thanks in advance.