How to maintain joint form when doing IK Dynamics?

Hi

How do I maintain the joint chain’s form when adding joint dynamics?
I can’t set the rot hold to 100 since it will negate all the dynamics effect.

You can see an illustration of the problem here:
https://www.dropbox.com/s/26vs13upquj6d92/c4d181_joint_chain_form_dynamics.jpg?dl=0

You can check the illustration file here:
https://www.dropbox.com/s/s08o9w8q47olt81/c4d181_joint_chain_form_dynamics.c4d?dl=0

Thank you for looking at my problem.