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So as a robot Brainy wouldn't exactly be all touchy feely. He would know that touching and hugging as signs of affection are the norm, and he's flattered normally if one of the team hugs him or touches him on the arm or whatever, but he wouldn't fully understand the reasoning behind WHY humans took comfort from contact, and he'd never feel the urge to hug or touch someone. He wants to be more human, but that doesn't mean he has a total understanding of organic customs.

Then Clark comes along, and although Brainy was already emotional for a robot, we all know Clark is what really kickstarted Brainiac-5's emotions to go beyond basic stuff like happiness and sadness. Clark helped Brainy grow emotionally, and Brainy's hero-worshippy crush became love, and his care for his teammates turned into full blown affection. He started feeling as deeply and as complexly as a human would, and he's not entirely sure how to deal with it, as evidenced by the series finale.

This drawing takes place while he's still a robot, so he's still a little emotionally stunted here. Brainy is sorting through some files late at night, maybe he did badly in a mission and is trying to formulate a strategy so he doesn't screw up the next time.
Then Clark walks in and sits with him, trying to comfort Brainy and tell him that today wasn't his fault, and it just sort of triggers him.
No doubt Brainy is the most surprised one of all when he suddenly gets the urge to hug someone for the first time, the urge coming on so fast that he's hugging Clark before he even realizes he's moved.

...I hope I'm making sense here.

Description
So as a robot Brainy wouldn't exactly be all touchy feely. He would know that touching and hugging as signs of affection are the norm, and he's flattered normally if one of the team hugs him or touches him on the arm or whatever, but he wouldn't fully understand the reasoning behind WHY humans took comfort from contact, and he'd never feel the urge to hug or touch someone. He wants to be more human, but that doesn't mean he has a total understanding of organic customs.

Then Clark comes along, and although Brainy was already emotional for a robot, we all know Clark is what really kickstarted Brainiac-5's emotions to go beyond basic stuff like happiness and sadness. Clark helped Brainy grow emotionally, and Brainy's hero-worshippy crush became love, and his care for his teammates turned into full blown affection. He started feeling as deeply and as complexly as a human would, and he's not entirely sure how to deal with it, as evidenced by the series finale.

This drawing takes place while he's still a robot, so he's still a little emotionally stunted here. Brainy is sorting through some files late at night, maybe he did badly in a mission and is trying to formulate a strategy so he doesn't screw up the next time.
Then Clark walks in and sits with him, trying to comfort Brainy and tell him that today wasn't his fault, and it just sort of triggers him.
No doubt Brainy is the most surprised one of all when he suddenly gets the urge to hug someone for the first time, the urge coming on so fast that he's hugging Clark before he even realizes he's moved.

...I hope I'm making sense here.