A lot of the stories in the Bible give me the impression that the sinners had perfect contrition (CCC 1452). Because they were sorry for their sins out of love for Jesus (and God) they were already forgiven of their sins. Touching Jesus would not cause any further sin. These days, we have to go to confession to seal the deal, but there was no confession in those days accept to confess to Jesus in person (which is what happened in many of these stories).
Another possibility is that Jesus had mercy on the sinners, giving them a chance to repent before making any judgments on them. This is something we can say about mortal sin in general. If God’s punishment were instant for mortal sin, people would immediately die. Instead, God continues to give those in mortal sin the basic grace of life, giving them a chance to repent of their sins.