Something like that?

[She begins to rub the towel into his hair with some vigor at first, but fades into a more gentle motion (this was a nice moment, says the voice in the back of her head).]

I don't think I really understand the extent of the "touch" sensory of androids like you yet. Like, how I'm drying your hair right now. You'd at least have words to describe what it's like for you right?