Human skin is fragile! Abrasion has its drawbacks. The goal is to make the skin feel alive, not break the skin.
Take a material or object with an irritant or a specific physical sensation, such sandpaper or thistles. Rub it against bare human skin. That is abrasion. There are those who need the additional sensation just to feel and there are those who are sensation junkies, seeking out every possible mechanism for generating a response from flesh.