I know what the Rambam says better than the Rabbi who wrote that article does. Don't trust these articles, you got to look up the primary source yourself as R' Kahane taught. This is one of the reasons I poke fun at the Cheredim a lot since many don't use primary sources and therefore get confused all the time. It is quite the opposite of what you claim, that article did not quote the primary source but I'm going to quote the source! Here is the Rambam where it is taken from.
הלכות איסורי ביאה פרק כא
א כל הבא על ערווה מן העריות דרך אברים, או שחיבק ונישק דרך תאווה ונהנה בקירוב בשר--הרי זה לוקה מן התורה: שנאמר "לבלתי עשות מחוקות התועבות" (ויקרא יח,ל); ונאמר "לא תקרבו לגלות ערווה" (ויקרא יח,ו), כלומר לא תקרבו לדברים המביאין לידי גילוי ערווה. [ב] והעושה דבר מחוקות אלו, הרי הוא חשוד על העריות.
I translate "Anyone who lives with a forbidden sexual relationship via the genitals, or he held close and kissed the way of lust and benefited from the encounter of the flesh, he gets lashes from the Torah: as it says etc...
So the Rambam says that the only type of touching that is forbidden is lustful sexual like touching such as sexual kissing. But simple touching is clearly not forbidden as per the Rambam. If he wished to forbid just hugging or simple kissing and hand shaking than he would have stated a hand shaking example, instead of a specific detailed description lustful kissing or as the gentiles call oral sex (he didn't just say kissing, he said "or he held and kissed the way of lust and benefited from the encounter of the flesh"). Many recent Rabbis are more stringent than the Rambam for some reason and rule that as long as some enjoyment occurs in the touching it is forbidden, as that article you wrote stated. Perhaps they read the Rambam differently than the simple reading and think since he wrote "and benefited" that benefit is all that is required to make it forbidden. Personally, I don't see how their opinion can be read in the Rambam and I disagree with their opinion since the Rambam to me is very clear on this issue. If you want to follow their ruling then fine, but I follow the Rambam's ruling.
Not only that but I've been told the Ramban is even more lenient and considers such a kissing example only a Rabbinical commandment since he thinks it is an asmachta but I don't have a Ramban so I can't quote the source with certainty.