Not all men are "typical." Most men see women as sex objects first; that's just how men are. It's normal for a man to masturbate, even if he's having sex with a partner sometimes. It's normal for a woman to masturbate, too.

Some people identify as asexual, but I don't think that's what's going on here, because your husband does engage in and enjoy sex, but apparently doesn't become aroused without physical contact.

Not all men are horny all the time. If he has low self-esteem, that could contribute to his lack of a sex drive. Maybe he's bored and needs something new in the bedroom. Hopefully, the therapist can help you and him figure it out.