Are the physical objects in the player's hands real?

I apologize for my bad English.
I’m trying to make a game in which the opponents and the player attacking each other reacted like physical dolls. I was able to do so that would be in the struggle on the hands it looked … tolerable. But when I tried to add a sword to the player’s hand, I faced a huge problem. The sword can not be made physical in the player’s hands. The sword passes through objects, as if they are not. I tried to use a physical hand, but I ran into another problem, when the sword is touching other objects, this does not affect the character’s body in any way. The sword goes there, but the hand holding it does not move.
Is it possible to make a weapon in the hands of a player as in real life or is it simply impossible?