If polyurethane gets on the hands, immediately rub them with mineral spirits. The area needs to be rubbed until the skin is softened. Regular soap and water does not work.
Once this has been done, rinse off the mineral spirits. Use lava soap to scrub the hands. Keep scrubbing until the adhesive parts are completely lifted from the skin. After that rinse the skin with water and dry it with a wash cloth. Thoroughly examine the skin. If adhesive is still present, repeat each step again. If the area becomes irritated during the process, it may be necessary to seek medical advice.