Tosfos in Sotah 19a (D'H V'kohen Maniach) quoting the Yerushalmi, asks how was it permissible for the Kohen to place his hands underneath the Sotah's hands while doing "tenufa" ie. waving the offering, when bringing the Minchas Sotah?
One answer Tosfos suggests to justify this is because the Kohen placed a sheet or napkin between his hands and her hands.
וכהן מניח את ידו תחתיה. האי דאיצטריך תו למיתני וכהן מניח את ידו תחתיה ולא קתני בסתם ומכניס את ידו לאשמועינן דתנופה בכהן ירושלמי וכהן מניח את ידו תחתיה ואין הדבר כיעור מניח מפה ואינו חוצץ מביא כהן זקן ואפילו תימא כהן ילד שאין יצר הרע מצויה לשעה.
The Munkatcher Rebbe in his notes on the Yerushalmi says that this is the source of the practice of the very righteous, who would place a sheet on the head of the woman asking for a blessing when placing their hands on her head to bless them. However, this can only be relied upon by someone exceedingly righteous.
Basing himself on the above, the Shearim Metzuyanim Behalacha (חלק ד קמז-ו) permits a man to help his wife up who may have fallen on ice or snow by pulling her up from her garment, despite her being in Niddah and thus prohibited to touch, as it is not direct skin on skin contact. Certainly one could also use gloves accomplish this as well.
Nevertheless, says the SMB'H that the minhag among G-d fearing Jews is to refrain from contact even where it is not skin on skin contact, as even that answer of Tosfos quoted above is one of three different answers which indicates that it is not the definitive answer, and can only be applied practically in extenuating circumstances.
One may not draw any halachic conclusions from this answer.