Is it permissible to shake hands with a man whose touch is unlawful, while wearing a glove or placing a piece of cloth, so as to avoid embarrassment?

It is permissible to shake hands with mahrams, even without a barrier, if there is no fear of temptation. As for non-mahrams, shaking hands with them is not permissible, and it is more cautious to avoid shaking hands with them even if there is a barrier.