The words ἅπτομαι, θιγγάνω, and ψηλυφάω are all translated ‘touch' in the A. V.; the two latter are also rendered ‘handle.' ἅπτομαι (from ἅπτω, ‘to connect') signifies ‘to touch freely, handle.' This was the touch the Lord gave to the leper, but was not defiled, Luke 5:13; and this was the grasp of faith of the woman who touched the border of His garment, and was healed, chap. 8:44-47; and this was the touch that the Lord bade Mary to refrain from after His resurrection. John 20:17.
θιγγάνω is ‘to touch lightly.' The sprinkling of the blood prevented the destroying angel from in any way touching the Israelites. Heb. 11:28. ἅπτομαι and θιγγάνω occur in Col. 2:21, but the meanings are transposed in the A. V. The philosophers say "Handle not, taste not, touch not." θιγγάνω occurs elsewhere only in Heb. 12:20.
ψηλαφάω (from ψάλλω, ‘to touch,' and ἀφάω, ‘to feel') is ‘to feel after with the fingers, handle.' It is used of what is palpable. It occurs only in Luke 24:39; Acts 17:27; Heb. 12:18; 1 John 1:1.