I have just learned of something called the Cuddle Parties where people come together for non-sexual touch. That is all I know, and I do not know if there are any in Australia. I assume that there is a fee associated with attending them.

If all you want is pure non-intimate physical contact, and, you do not mind spending some time and expending some loving kindness, I would volunteer at your local hospice and touch the faces and hands of people who are dying. They will surely appreciate.