How to physically attach actor to many sockets on a skeletal mesh?

I’m trying to make a pawn with a physically simulated hand that can pick up and hold objects.

The normal physics collisions between the object and the hand cause the objects to vibrate violently and pop out of the hand quite often. Instead of letting collision responses handle the interactions, I want to first disable collisions between the object and the hand, then add spring constraints between the center of the object and each fingertip and the palm.

My problem is I don’t know how to physically attach an actor to multiple bones/sockets on a skeletal mesh. Is this possible? Thanks.