Duriez, ChristianCourtecuisse, HadrienAlcalde, Juan-Pablo de la PlataBensoussan, Pierre-JeanKaterina Mania and Eric Reinhard2015-07-132015-07-132008https://doi.org/10.2312/egs.20081025In this paper, 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.10.2312/egs.2008102575-78