This paper examines steady-state crack growth at interfaces between polymeric materials and hard substrates under quasi-static conditions. The polymeric material is taken to be an elastic nonlinear viscous solid while the substrate is treated as a rigid material. Void growth and coalescence in the rate-dependent fracture process zone is modeled by a nonlinear viscous porous strip of cell elements. In the first part of this paper, the polymeric background material surrounding the process zone is assumed to be purely elastic. Under fixed mode mixity, the computed interface toughness is found to be a monotonically increasing function of crack velocity; toughness also increases rapidly with higher rate sensitivity. This behavior can be explained in terms of voids growing in a strain-rate strengthened process zone. In the second part of the paper, the background material is also treated as an elastic nonlinear viscous solid. The competition between work of separation in the process zone and energy dissipation in the background material leads to a U-shaped toughness-crack velocity curve. Effects of mode mixity, initial porosity, rate sensitivity, as well as the initial yield strain on toughness are studied. The simulations produce trends that agree with interface toughness vs. crack velocity data reported in experimental studies for rubber toughened epoxy-paste adhesive and urethane acrylate adhesive.