The manipulation of a virtual object by means of a digital glove is a tedious task for repetitive position and orientation adjustments. We try to overcome the lack of force feedback of general purpose digital gloves. We propose a solution based only on the interpretation of instantaneous hand posture variations. From this knowledge, a virtual contact model analog to the Coulomb law allows to evaluate the instantaneous nature of the contact, firm or sliding, between virtual sensors attached to the fingers and the virtual object. Although no force feedback is supplied, we are able to derive a visual restitution consistent with the user manipulative intentions while respecting the integrity of solid interaction with friction