The workshop on Virtual Reality Interactions and Physical Simulations (VRIPHYS) is one of the well established international conferences in the field of computer animation and virtual reality. Since 2004, this annual workshop has provided an opportunity for researchers in computer animation and virtual reality to present and discuss their latest results, and to share ideas for potential directions of future research. The first workshop was held in Colima, Mexico, followed by successful workshops in Pisa, Italy,Madrid, Spain, Dublin, Ireland, Grenoble, France, Karlsruhe, Germany, Copenhagen, Denmark and Lyon, France. This year, the 9th VRIPHYS workshop is hosted by the Graduate School of Computational Engineering and the Interactive Graphics Systems Group at the Technical University of Darmstadt as well as Fraunhofer IGD. VRIPHYS is organized in collaboration with Eurographics (EG). The two-day workshop will take place on December 6 - 7, with a technical program consisting of 17 accepted full papers. All submitted papers have been reviewed by members of the International Program Committee (IPC). The technical program is supplemented by two invited speakers.We are very pleased that Jan Peters and Stéphane Cotin have agreed to give a presentation at the VRIPHYS workshop. Jan Peters is a full professor for Intelligent Autonomous Systems at the TU Darmstadt and Stéphane Cotin is the scientific leader of the SHACRA team at Inria Lille. The submission review management system (SRM) was provided by EG. The workshop proceedings are published by EG. The organizing committee would like to acknowledge the help of Stefanie Behnke: her support in organizing the submission and review process, and in compiling the proceedings was greatly appreciated.We also thank NVIDIA for sponsoring the Best Paper Award.We wish to say thanks to all members of the organizing committee for their involvement and continued support. Last, but not least, we would like to thank all members of the IPC, all additional reviewers, the invited speaker, the participants and all who have supported this year’s VRIPHYS workshop.