This comment reminds me of the “Sensate Focus Exercises” promoted by Masters and Johnson. It was used primarily for erectile dysfunction, but I think it could have a much broader usage for couples who wish to explore their sexuality.

The technique forms the plot of the very funny movie, “Hope Springs,” with Meryl Streep, Tommy Lee Jones, and Steve Carell.

Basically, one partner is active, the other passive. It is the active partner’s job to administer touch. The only responsibility for the passive partner is to say, “I like it,” or “not so much.” Then the roles are reversed.

I don’t think this needs to be limited to a “therapeutic” exercise. It’s perhaps a bit more clinical than your fantasy, but I think couples could benefit from some variations of it.