Sorry, don't have an easier method than just manipulating the poses by hand. - Collision detection is a dynamic function and therefore only works on dynamic objects, Poser only has cloth and hair.

You could, if you really wanted to experiment (but mind you this kind of experimentation could take way longer than posing by hand to achieve desired results)  fake some soft body dynamics by applying cloth dynamics to the hand of a figure.

Set the drape frames to zero and have only 2 or 3 simulation frames, you may could get the hand to collide with the chosen body part without becoming to limp and out of shape. 

You would also need to make sure the points along the loop connecting the hand to the forearm were a constrained group as well as where all the finger joints connect with one another so they wouldn't all seperate and start falling to the floor.

As I said, this would be time consuming in its own right, but theoretically it sould work.

Hey! His nose is dry! ... Someone should lick it,  just in case. - Diego