Our members have given you accurate information and answers. As they have stated, you had no risk for HIV and do not need pep.
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Wow, you have read hundreds of articles and forums - you're making hiv your full time hobby for zero reason. Such a waste of your time, effectively googling for death because you're unwilling to take "no risk" for an answer.
Since you didn't answer the QUESTION above I'll do it for you. No there wasn't a penis in my anus and I wasn't injected with a hollow needle so I had zero risk and should move on instead of trying to convince this forum about the silly idea that people get hiv from cuts - you think athletes in contact sports who get cut, or people who shake hands, or barbers who cut people by mistake, etc. spread hiv but no one BUT YOU knows about it?
That's nuts that the ER gave you pep for a non risk like that. Shame on them. Pep is a toxic and hard to take drug and you do not need it. Risks for HIV include having unprotected vaginal or anal sex or sharing IV needles. Air and saliva inactivate the virus. Hand jobs do NOT transmit hiv. You had no risk so should definitely not be taking pep (reserved for anal or vaginal intercourse with full penetration without condom when the other person is KNOWN to be HIV positive.) What country are you in?
Your situation involves personal contact with an object in air ( hand, maybe blood, lubricant, maybe cuts, "bump" etc. ). You will be happy to learn that you had no risk, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal with a penis, neither of which you did and you didn't share hollow needles to inject with which is the only other way to acquire hiv - there are ONLY 3 ways to get hiv. Note that 2 of them require a penis and the third requires a hollow injecting shared needle - there are no OTHER ways to get hiv. Analysis of large numbers of infected people over the 40 years of hiv history has proven that people don't get hiv in the way you are worried is a risk.
Hiv is a fragile virus in air or saliva and is effectively instantly dead in either air or saliva so the WORST that could happen is dead virus rubbed you, and obviously anything which is dead cannot live again so you are good. Blood and cuts would not be relevant in your situation since the hiv has become effectively dead, so you don't have to worry about them to be sure that you are safe.
There is no reason for a person to test when they are safe. The advice took into consideration that the other person might be positive, so move on and enjoy life instead of thinking about this non-event. hiv prevention is straightforward since there are only 3 ways you can become infected, so next time you wonder if you had a risk, ask yourself this QUESTION. "Did I do any of the 3?" Then after you ANSWER "No, I didn't" you will know that it's time to move on back to your happy life.
No one got hiv from what you did during 40 years of hiv history and no one will get it in the next 40 years of your life either. You can do what you did any time and be safe from hiv.
The other person's status is irrelevant when you have no exposure to live virus.
You can read that anything will theoretically infect you, on the internet. The first step to peace is to stop googling such silly stories "cold turkey" because until you do that, you will continue to scare yourself for no reason.