Go to the Physics tab of the node you're trying to improve the response (i.e. "handControl"), then increase Spring and Damper settings to your liking. If it's ParentLinked to a CUA and the CUA moves, it's going to respond much faster to the change in position. Unless the CUA is moving very fast, you should see almost no delay in position. You can also use this same strategy to anything the node is ParentLinked, for example other Person Atom's body parts, not only CUAs.