The only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles with IV drug users.
You cannot get HIV or any STD through hands or fingers - not yours, not anybody else's - no matter what.
If you do not engage in any of the activities I mentioned above with someone HIV+ or whose HIV status is unknown to you, you will NEVER have to worry about getting HIV. There is no information you could add about this event that would make it a risk for HIV.
You had ZERO risk for HIV and you do not need to test.