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The No-Touching Rule Makes Complete Sense

The AIDA International rules and regulations for competitions rule that an athlete is disqualified if they are touched after surfacing and before the judges have shown their card.

In a competition, we want to see that the athlete performs the dive on their own, we want to see that they are physically capable of ending a dive safely without intervention. Theoretically,

a rule allowing non-supportive touch would then be sufficient, BUT: Apart from being safe and fair, any rule - be it in a sports competition or in any other legal system - also needs to be judgeable.

Non-supportive touch is a very vague concept and it is extremely easy to come up with scenarios where it would be impossible to consistently judge whether a touch is supportive or not. Different situations would allow for different touches to be judged as supportive or non-supportive.

It is, however very fair and very judgeable to ensure whether someone has been touched or not.

As not touching someone is also very easy to do in a competition scenario, this rule makes sure that no one is being physically helped in a practicable way. 

Non-Supportive Touch by Staff

This addition to the rules has yet to prove its worth. Essentially, what this addition does is, that AIDA International expresses its trust in the staff of an organisation that they will not support the athletes unfairly, even when they are close enough to provide safety and prevent injury, for example.
I can see why this addition has been put in place. Accidental touch by a - presumably - neutral party has been an issue many times and this rule essentially trades a known source for discussion for an unknown source of discussion that is presumed to be less prolific. Discussions will come up when a staff member touches in a way that could be interpreted as supportive.
The issue in question remains the same: Supportive touch is nigh-impossible to judge, so the people who have put this rule in place are simply placing a bet that this will happen less with staff than people have been disqualified for being touched by staff.