Can I imagine a theoretically slightly increased risk of transmission, given the nature of the exposure, chafing, etc? Yes. But when the risk is near zero (low chance your partner had HIV, plus basically protected sex except hand-genital contact), even doubling the risk doesn't significantly raise the odds of catching HIV. (2 times near-zero = near-zero.)
If a condom looks intact, it is intact. Micrcscopic or invisible nicks or defects probably to not materially increase the risk of HIV/STD transmission.
Bottom line: I see no reason for concern. But if your anxieties aren't relieved by this advice and a negative test result would help, get tested 6 weeks after the exposure.
Good luck-- HHH, MD
One follow up as someone brought something to my attention. Is the reason its still not really any risk because if with the chaffing on my penis the fact that vaginal fluids were exposed to air (taking the condom off put her hand with the fluids exposed to air for a few seconds and then masturbating me) negate some of the properties of HIV virus? SOmeone said that it needs a very specific environment and that would be having the penis inside the vagina exposed to deep vaginal secretions within the body? Sorry for the follow up I just want to understand this a little better. THanks.