No, not really. HIV is acquired by transmission of bodily fluids, amongst other methods. All the other activities you posted before are of no means a way to contract HIV. Only through unprotected sex, you may have a possibility in acquiring it.
thanks fro the re-assurances. I guess I'm just worried because sometimes the psoriasis creates sores on his hands and I was wondering if that would put me more at risk.
I can understand the anxiety that follows especially finding out your partner has HIV. You are at no risk at all from the activity you describe. Touching is no risk at all. Same thing with kissing and fondling. Protected sex is no risk. HIV does not have to show physical symptoms. You are fine, do not worry at all.