Our expert says:
Generally speaking masturbation is a normal healthy sexual practice which as a rule does not hurt the penis, especially if the person is masturbating himself you will do it in ways that promotes pleasure and if a partner masturbates you you would hopefully give your partner feedback to guide how they masturbate you so that it feels good and pleasureable.
In some less common situations such as if a guy has a compulsive disorder and masturbates compulsively it could cause pain and discomfort, if a man has a very significant curvature of the penis (called pyronies disorder) masturbation could be painful and in cases where the man masturbates in a very rough or aggressive manner he could hurt his penis.
Otherwise not as a rule.
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