You might be surprised if you ask. I asked my ex-Pdoc for a hug. I never thought she'd be okay with it, but I had to ask. She said so long as it was beneficial to the client it was okay! I was shocked. We didn't hug every appointment, but every time I asked, she gave me a hug. And my ex-Pdoc did not seem like the hugging type at all. She was very professional and kind of stern. But I had an attachment to her anyways and wanted a hug.

I believe it is better to ask and get a no then to not ask and possibly miss out on the touch.