How can I make multi contact on a object

Hi,

I want to model the object grasping by a robot hand. I already modelled a contact between robot fingers and object and able to determine the contact force. Now, what I want is that, the object will move in terms of contact force. In my model, the object does not move, but make contact. Is there any way to move the object in terms of contact force. please let me know. Thank you.

Rakibul