I poke my belly all the time to play with her but two times already when I was about to poke back and she poked at the exact same time and I felt something hard (her) I felt like I touched her hand or foot whatever she was using to poke me.
Plus when I go to the doctors he pushes down on my stomach really hard that it hurts me l! So no I dont thinks poking your belly will hurt the baby
Hen I poke my belly she kicks back after I poke her I feel like shes telling me to leave her alone lol.. and no im pretty sure it doesnt hurt the baby