I think there's more than one impulse behind the need to touch.
One is the need to touch or feel something attractive or in your possession. There is a need to make it tangible.
The other impulse is driven more by adrenaline. The quickening of the heart, the shallow breath, the rush you get when you reach out and put yourself in danger for an instant, and the feeling that follows as the endorphins flood your system once you have retreated safely. Some people get addicted to it, and become freeclimbers, basejumpers, or... hot handlers
--edit for typo-