HIV can be transmitted from skin to skin only of both surfaces of skin have fresh, open lesions (wounds, excoriations, erosions, ulcers…). HIV is very sensitive to external conditions so it can’t be transmitted by dried secretions. HIV is not present in enough quantities in saliva, tears, urine, stools or sweat to be transmitted...so these types of secretions can’t transmit the infection. HIV is present in larger amounts in the blood, sperm and vaginal discharge. To be transmitted, HIV must be transferred between these types of secretions with fresh lesions on the skin or mucosa. HIV won’t be transmitted if infected blood, sperm or vaginal discharge drops on intact skin. During sexual intercourse, small lessons of the genital skin or mucosa often happen because of the friction between the genitals. That’s why HIV is transmitted trough sex.
In your case it doesn't seem that HIV transmission was possible. But be sure to follow up with testing in the 6 months following the risky contact.