What was the clawed hand that tried to grab C-3PO in Jabba's palace?

Question

In the scene where C-3PO walks through the dungeon corridor a creature puts its clawed hand through the bars of its cell, startling C-3PO.

Is this creature ever identified, perhaps in the Expanded Universe (Legends)?

Answer 1

The novelisation isn't much help

Periodically a hand or claw or tentacle would reach through the bars of a door to grab at the hapless robots.

_{^{Return of the Jedi - Official Novelisation}}

Nor is the film's junior novel

“What could possibly have come over Master Luke?” C-3PO wondered aloud. “Is it something I did? He never expressed any unhappiness with my work.” C-3PO saw a repulsive hand reach out between the bars of a cell door and try to grab him. “Oh! Oh!” the protocol droid exclaimed. “How horrid!” Trying to avoid the hand, he moved to the other side of the passage.

_{^{Return of the Jedi - Junior Novelisation}}

The script isn't any use

One of Jabba's Gamorrean guards marches Artoo and Threepio down a dank, shadowy passageway lined with holding cells. The cries of unspeakable creatures bounce off the cold stone walls. Occasionally a repulsive arm or tentacle grabs through the bars at the hapless droids. Artoo beeps pitifully.

_{^{Return of the Jedi - Screenplay}}

It doesn't even get a mention in the new junior novel

"What could possibly have come over Master Luke?” chatters C-3PO. “Is it something I did? He never expressed any unhappiness with my work. Oh! How horrid! Ohh!”
A tentacle has reached out from a filthy cell they are passing and wrapped itself around C-3PO’s neck.

_{^{Return of the Jedi - Beware the Power of the Dark Side!}}

The Complete Locations book merely refers to it as a one of several "Captive[s] awaiting torture".