I'm actually not sure if it is possible to compromise on this. You cannot learn to want touch and physical closeness. If nothing else, being sort of forced to do so will likely make someone resistant to it whereas they weren't before.
It sounds like he is very co-dependent and he will have to learn to deal with that. It sounds harsh, but that isn't really your problem.
If he truly loves you, and isn't just clinging to you out of fear and desperation, he will have to accept that you cannot basically be forced into physical contact. People are just different.
Him being lonely is also not your problem. He has to find and build a life of his own and get his own passions and things to do in life, apart from you.
The way I see it the only way you could make it is if he sorts out his problems. And they are his problems.
Maybe if he'd look at his stress type in love you can find a way to make it work. There's four types: digital, visual, tonal, and kinestetic.
It can explain so much and also how to deal with the partner.
Watch and listen to this interview to learn more if you're interested:
https://www.youtube.com/watch?v=ptLtu0nfTrI&t=1029s