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While the controller sensor is selected or its tweak menu is open, a gizmo shows representing the imp. This is the point the imp zooms into, or the point relative to the object as a whole that will follow the imp.
Something to note though is that the controller sensor in the puppet is linked to the entire puppet. The entire puppet uses the pelvis as the root of the rest of the puppet. So no matter where you move the imp point, the pelvis will be the thing following the imp, even if the rest of the body is flopping about.
So perhaps that isn't the way to go. If you want to be able to follow-imp the hand, for example, and have the rest of the body go limp, you'd have to take the puppet out of the puppet heart (the special group with the purple base) so it can flop about, and then put a controller sensor onto the hand itself.
I don't know if that would work for your situation, but something like that is the only way of getting it to work as described I think.