In this paper, we present a novel skeletal rigid skinning approach. First, we introduce a skeleton extraction technique that produces refined skeletons appropriate for animation from decomposed solid models. Then, to avoid the artifacts generated in previous rigid skinning approaches and the associated high training costs, we develop an efficient and robust rigid skinning technique that applies blending patches around joints. To achieve real time animation, we have implemented all steps of our rigid skinning algorithm on the GPU. Finally, we present an evaluation of our techniques against four criteria: efficiency, quality, scope and robustness.