Smoothly rotate bones with collision in mind

As the title says, how would I smoothly rotate a bone? In the game I’m making right now, it has similar game play to surgeon simulator where you take control of a hand and attempt to grab stuff or rotate the hand to screw something in, etc.

When the user holds down a certain key, I want the hand to either open or close so the user can attempt to grab the item in a similar mechanic as surgeon simulator, but I don’t know how I could make this hand closing/opening animation possible since while the hand is closing down onto an item, it would forcefully push the item inside of the hand mesh. Is there also a way I could stop or pause the animation of a certain joint when there is too much opposing force by another
mesh/actor on a rotating bone?

Did you ever find a good solution to this?