Apply force to character based on thrusters attached to a hand like objects (multiple sources)

I have a rigidbody character with 2 capsule objects to represent it's hands. These hands are going to have thrusters attached to them to propel the character based on the direction and a float value of how much force is to be applied. The hands can rotate in all directions. I have attached a Debug.DrawRay in the picture that is longer depending on how much force to apply.

If both hands are pointing directly up, the character should be moved upward.

I know that I will probably need to provide more information to clarify the desired outcome, I am just not sure what information that will be at this stage. Below I have included my current code and an image of what I am trying to work with.

 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 
 public class PlayerController : MonoBehaviour {
 
     Rigidbody rb;
 
     public GameObject leftHand;
     public GameObject rightHand;
     public GameObject feet;
     public GameObject thrustTarget;
 
     public float playerHeight = 1.6f;
 
     public float leftThrust = 0.0f;
     public float rightThrust = 0.0f;
 
     public float leftThrustMax = 100.0f;
     public float rightThrustMax = 100.0f;
 
     public float leftFuel = 100.0f;
     public float rightFuel = 100.0f;
 
     public float leftAcc = 10.0f;
     public float rightAcc = 10.0f;
 
     public float leftDec = 10.0f;
     public float rightDec = 10.0f;
 
     void Start () {
         rb = GetComponent<Rigidbody>();
         feet.transform.position = new Vector3(0,-playerHeight,0);
     }
 
     void Update () {
 
         if(Input.GetKey("a")) {
             leftThrust += leftAcc * Time.deltaTime;
         } else {
             leftThrust -= leftDec * Time.deltaTime;
         }
 
         if(Input.GetKey("d")) {
             rightThrust += rightAcc * Time.deltaTime;
         } else {
             rightThrust -= rightDec * Time.deltaTime;
         }
 
         if(leftThrust > leftThrustMax) { leftThrust = leftThrustMax; }
         if(rightThrust > rightThrustMax) { rightThrust = rightThrustMax; }
 
         if(leftThrust < 0) { leftThrust = 0; }
         if(rightThrust < 0) { rightThrust = 0; }
     }
 
     void FixedUpdate () {
         Debug.DrawRay(leftHand.transform.position,-leftHand.transform.up * (leftThrust / 100),Color.red);
         Debug.DrawRay(rightHand.transform.position,-rightHand.transform.up * (rightThrust / 100),Color.red);
 
         
     }
     
 }