Thankfully Inigo's reflexes are pretty good, which means that the moment those hands start swatting at his own, he's already pulling them right back before Soldat could hit them.

And despite the instant awkward feeling that kicks in - right, wasn't Bucky always so wary about sudden touch too? Though this was an emergency! - Inigo tries to surpress it the best he can, not wanting to make them feel bad. Instead he just tries to smile.

"Ah.. Don't worry. Forgive me for suddenly touching you like that, it's just that you seemed right about to topple over. I didn't want you to hurt yourself."