How to stop hands from going through walls VR?

Hello, I'm trying to get my VR hands from going through walls using the Oculus sdk, so far I tried fixed joints and using rigidbody.moveposition. They sort of work, but they are very buggy and jittery, is there any way to achieve this in a more stable way? I know this seems like a simple problem, but i just can't find any solution anywhere. Thank you!