I find myself wondering if your husband has a paraphilia called frotteurism. Frotteurism is when someone gains sexual satisfaction by rubbing up against another person, usually against their wishes. Your husband seems unable to stop himself for long. Sadly, the very thing he wants most – sexual satisfaction – is becoming less and less a part of your lives because of his compulsion.
I suggest you research the topic and then try to find a calm, non-accusing way to talk to him about it. Tell him you understand that it feels good to him but that his behavior is shutting you off. Reassure him (if it’s true) that you still love him and that you want to have an intimate life with him. But you can’t be his sexual partner if you feel you always have to be on guard against unwanted advances. If he does have a paraphilia, it’s not something he can control by willpower alone. Suggest that the two of you could work on it together by going to a couples counselor or he could talk to a therapist who specializes in sexual disorders.
If your husband won’t go to a therapist, please consider going yourself. It sounds to me like you need someone to talk to who would understand your situation and who could help you sort out your options.
I wish you well.