It doesn't sound like the match between you is very workable as it is. He is bullying you with the grabbing and tickling, and he is not genuinely affectionate. If you two can't work this out (go to a different counselor together), then I would talk to him about dissolving the marriage.
You mention that you are personally seeing a counselor, but does he ever go with you, or do you two attend couple's counseling?
Just to clarify the stuff that happened to me wasnt just tickling and jokes - dont think i am a nut. It always started in a playful way tickles and thigns. The icky stuff and abuse came after. Despite that, the redicule, him laughing at me, poking tickling, making other kids laugh at me...was the harder part of it all. I can be intimate in other ways, just not that.