If this is the case, then I don't know what to say
....Maybe ask more nicely? or do research and go to another place that surely allows it...
I don't have the full story but It's hard to believe that many girls would react as negatively as you depict. Especially from a friendly request to touch. From your posts, if anything, it definitely sounds like you touched first to test the waters before even verbally asking.
To be fair to you though, I've never been to a massage place before, so I don't really know whether touching the massage girl without permission is an accepted or expected practice...but I'm guessing most guys going to a HE place wouldn't hesitate doing this.
Personally, even when seeing an escort, I wouldn't touch and grope without asking first or seeing she seems OK with it - this is just having good manners IMO, even when it is 'expected'.