We propose an integrated set of methods for designing and animating bodies whose deformable flesh coats an articulated skeleton. The proposed methods provide good automatic positioning of the ‘skin’ after movements, and automatic deformation after collisions with rigid or deformable objects (dynamic or static). The response to collisions includes a feedback from the flesh to the skeleton, whose movement is adequately modified. Moreover, coating the skeleton gives an easy solution to closed loop collisions and angle constraints control. Our model is modular and gives some high level control to the user.