In this project, we propose a new approach to model interactions through a skinning method. Skinning is a frequently
used technique to animate a mesh based on skeleton motion. In the case of a hand motion sequence used to
manipulate and grasp virtual objects, it is essential to accurately represent the contact between the virtual objects
and the animated hand. To improve the level of realism, our approach allows to accurately solve friction contact
laws. In addition, contact constraints defined on the surface of the hand can be applied onto the skeleton to produce
plausible motion. We illustrate our work through two examples: the real-time simulation of a grasping task and a
character animation based on motion capture.