Although Hype still has no Inverse Kinematics (IK) this lesson from the School Of Motion aimed at After Effects user should give you some insights on how to use such technics in Hype.
PS: Be aware that Hype, even though it supports Hold Keyframes it doesn’t display them correctly in the timeline (use time interpolation “instant”) and shows a progression and the wrong shaped keyframe icon (meaning not an industry standard square and no interpolation line). But it works.