This maya tutorial is helpful if you want your hand to be parented to multiple objects for doing multiple chess moves in our final animations. It is in the animation tutorial, under Lesson 5: Inverse Kinematics, in the Animating an IK system section. You don't need to have IK applied to your objects to use this keyframing technique. I have yet to figure out how to manipulate rest positions, or if rest positions can be used with this. Anyways, in the channel box you key frame the 0/1 amounts, as shown above, with the chess piece selected, and this makes the piece move with the hand only when you key it to.