I have been to the strip club recently and received lap dances. Usually they grind on top with underwear, but twice they have done it without underwear and as they grind my shirt tends to go up exposing my abdomen.

1.It is unlikely, but if her vagina made contact with my abdomen is it possible they passed an STD specifically HPV or HSV-2 to me? my penis was completely covered and unexposed.

2.I believe skin-to-skin contact refers to mucous membrane-to-mucous membrane contact is this correct?

1.  While transmission of genital herpes or HPV might theoretically occur in this way, experience tells us that this is an extraordinarily rare event.  With respect to HPV infections, please remember that most every sexually active person over 80% will have multiple HPV infection during their lives. These are almost always benign, self-llimited infections which rarely lead to complications or problems. If you have concerns about HPV I strongly recommend that you get the HPV vaccine which is the single most effective means of preventing HPV.  

2.  You are correct, the most common STI‘s, Maria, chlamydia, and trichomonas, are transmitted through contact between mucous membranes. Normal non-mucous membrane epithelium is not infected by these organisms. On the other hand, the STI‘s which causes lesions such as HPV, herpes, and Syphilis can be transmitted through direct contact of a lesion with otherwise normal epithelium.

I hope this information is helpful to you. The sorts of exposures that occur during lap dances are by and large, not something to worry about. We see no reason for concern and no reason for testing if your only exposure has been a lap dance. EWH