I believe the term you want is "Pervasive Developmental Disability". It affects more than social skills, though they are one of the more visible areas of impairment. You are correct that it is NOT associated with lower intelligence levels; one of the criteria is, "There is no clinically significant delay in cognitive development or in the development of age-appropriate self help skills, adaptive behavior (other than in social interaction) and curiosity about the environment in childhood."
However, it does require:
Although I find the DSM symptoms describe me reasonably well, experts assure me that I do not have Asperger Syndrome. That said, I do feel that my deficit in processing friendly touch (such as hugs, or cuddling) without feeling restricted and trapped would make tickling less relatively aversive.
Is this the sort of thing you meant?