diff --git a/libraries/avatars/src/HandData.cpp b/libraries/avatars/src/HandData.cpp
index e4bb187f28..67d284d368 100644
--- a/libraries/avatars/src/HandData.cpp
+++ b/libraries/avatars/src/HandData.cpp
@@ -67,11 +67,12 @@ void HandData::getLeftRightPalmIndices(int& leftPalmIndex, int& rightPalmIndex)
 }
 
 PalmData::PalmData(HandData* owningHandData) :
-_rawRotation(0, 0, 0, 1),
-_rawPosition(0, 0, 0),
-_rawNormal(0, 1, 0),
-_rawVelocity(0, 0, 0),
-_rotationalVelocity(0, 0, 0),
+_rawRotation(0.f, 0.f, 0.f, 1.f),
+_rawPosition(0.f),
+_rawNormal(0.f, 1.f, 0.f),
+_rawVelocity(0.f),
+_rotationalVelocity(0.f),
+_totalPenetration(0.f),
 _controllerButtons(0),
 _isActive(false),
 _leapID(LEAPID_INVALID),
diff --git a/libraries/avatars/src/HandData.h b/libraries/avatars/src/HandData.h
index cdab9f71e9..0d1371b79d 100755
--- a/libraries/avatars/src/HandData.h
+++ b/libraries/avatars/src/HandData.h
@@ -168,6 +168,9 @@ public:
     void setRawVelocity(const glm::vec3& velocity) { _rawVelocity = velocity; }
     const glm::vec3& getRawVelocity()  const { return _rawVelocity; }
     void addToPosition(const glm::vec3& delta);
+
+    void addToPenetration(const glm::vec3& penetration) { _totalPenetration += penetration; }
+    void resolvePenetrations() { addToPosition(-_totalPenetration); _totalPenetration = glm::vec3(0.f); }
     
     void setTipPosition(const glm::vec3& position) { _tipPosition = position; }
     const glm::vec3 getTipPosition() const { return _owningHandData->leapPositionToWorldPosition(_tipPosition); }
@@ -217,6 +220,7 @@ private:
     
     glm::vec3 _tipPosition;
     glm::vec3 _tipVelocity;
+    glm::vec3 _totalPenetration;    // accumulator for per-frame penetrations
     int _controllerButtons;
     int _lastControllerButtons;
     float _trigger;