Is Sheldon REALLY uncomfortable with his body?

In multiple occasions Sheldon has expressed his discomfort with activities that involve "touching" a human being.

Even he doesn't have a "touch phobia", as stated in the episode "The Benefactor Factor" to the president of the university dr. Siebert:

"It's not a touch phobia, it's a germ phobia. If you'd like to go put on a pair of latex gloves, I'll let you check me for a hernia."

he thinks that massaging his back with his own hand:

"Still seems like a lot of unnecessary touching"

This is the Sheldon Cooper we get to know during the seasons. Truth is, in the very first episode of the show, that Leonard defines him as a "Semi Pro" in masturbation activities (they were at the sperm bank to donate their sperm and use the money to get a faster internet connection!).