OK...I have a lot of the same requirements mentioned so far. Here is one that may set me a part from others...and is very difficult for me to even type. Safe touch does not cause ME to fear being aroused.It's slightly warm on my skin but has a calming effect. It lowers the ossilating frequency of my cells (sorry I'm ADHD so I can't describe it to others well).

Safe touch also does not automatically demand reciprocation...simply encourages acceptance at whatever level I choose.