Since most voxels have size greater than 1x1x1 pixels it is nothing wrong when you are moving them for a raction of their size.
As for skeletal animation of voxel based models you can always replace a series of voxels with a proceduraly generated 3D model to save processing time.
For instance you have a character made from voxels. Each character part is made from searies of voxels which you then join into a 3D model. You then atach this 3D model to skeletal bone for your character animation. After that everything is almost the same as with 3D character models.
If you want to see some nice voxel based character animations I would recomend taking a look at game Timber and Stone: http://www.timberandstonegame.com/
In Timber and Stone evrything except for fire particles is made with voxels.
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