diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 1f2f502b44..8a3082d89a 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -63,7 +63,8 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
         if (_owningAvatar->getHandState() == HAND_STATE_NULL) {
             restoreRightHandPosition(HAND_RESTORATION_RATE, PALM_PRIORITY);
         } else {
-            applyHandPosition(geometry.rightHandJointIndex, _owningAvatar->getHandPosition());
+            glm::vec3 handPosition = glm::inverse(_rotation) * (_owningAvatar->getHandPosition() - _translation);
+            applyHandPositionInModelFrame(geometry.rightHandJointIndex, handPosition);
         }
         restoreLeftHandPosition(HAND_RESTORATION_RATE, PALM_PRIORITY);
 
@@ -154,6 +155,29 @@ void SkeletonModel::applyHandPosition(int jointIndex, const glm::vec3& position)
     state.applyRotationDelta(rotationBetween(handRotation * glm::vec3(-sign, 0.0f, 0.0f), forearmVector), true, PALM_PRIORITY);
 }
 
+void SkeletonModel::applyHandPositionInModelFrame(int jointIndex, const glm::vec3& position) {
+    if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
+        return;
+    }
+    setJointPositionInModelFrame(jointIndex, position, glm::quat(), false, -1, false, glm::vec3(0.0f, -1.0f, 0.0f), PALM_PRIORITY);
+
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    glm::vec3 handPosition, elbowPosition;
+    getJointPositionInModelFrame(jointIndex, handPosition);
+    getJointPositionInModelFrame(geometry.joints.at(jointIndex).parentIndex, elbowPosition);
+    glm::vec3 forearmVector = handPosition - elbowPosition;
+    float forearmLength = glm::length(forearmVector);
+    if (forearmLength < EPSILON) {
+        return;
+    }
+    JointState& state = _jointStates[jointIndex];
+    glm::quat handRotation = state.getRotationInModelFrame();
+
+    // align hand with forearm
+    float sign = (jointIndex == geometry.rightHandJointIndex) ? 1.0f : -1.0f;
+    state.applyRotationDeltaInModelFrame(rotationBetween(handRotation * glm::vec3(-sign, 0.0f, 0.0f), forearmVector), true, PALM_PRIORITY);
+}
+
 void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
     if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
         return;
diff --git a/interface/src/avatar/SkeletonModel.h b/interface/src/avatar/SkeletonModel.h
index 183ba899b8..5447027d96 100644
--- a/interface/src/avatar/SkeletonModel.h
+++ b/interface/src/avatar/SkeletonModel.h
@@ -92,6 +92,7 @@ public:
 protected:
 
     void applyHandPosition(int jointIndex, const glm::vec3& position);
+    void applyHandPositionInModelFrame(int jointIndex, const glm::vec3& position);
     
     void applyPalmData(int jointIndex, PalmData& palm);
     void applyPalmDataInModelFrame(int jointIndex, PalmData& palm);