tentacle grip on an object (MAX)

hi , i m trying hard to make octopus tentacle grip on a rod or any object , i can set up the spline type setup of the tentacle but putting FK chain that follows the Ik chain and hence i can override the fk along the ik tentacle length , like this here
http://vimeo.com/24956679
i wish i can get real solution as i really got tired of trying and searching the web

If I understand correctly , this may help.

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