Attaching SkeletalMesh hand to Actor using IK

Hi there,
I’m trying to attach my “hand_r” bone of my Character’s Skeletal Mesh to a fixed location. Basically I am trying to fix the hand to the world location of a separate mesh using IK.

It works to some degree but it is not very convincing, the hand doesn’t fully “grip” the mesh.

How do you solve this problem of not being able to lock the hand to a fixed location?