Is there a way to limit animation on collision?

I’m trying to create a hand with grab animation, something like in Surgeon Simulator, but without manually controlling each finger.

I have made an animation of grabbing an object for the hand. How can I make it adapt to any object by detecting collision?
The goal is to make the animation to limit itself by its collisions so that the grabbing animation stops from going through an object.

Both the hand and the objects are non kinematic rigidbodies.
From my tries it either goes right through the object or sends the grabbed object to space.

Thank you

That’s probably going to require for you to use inverted kinematics, something like this sounds similar to that you described