He ends up groping her with such regularity that she can hardly be blamed for thinking he's doing it on purpose; since at least half the time, he is. In chapter 29, it's revealed that Haruko has an unexplained habit of ending up in other girls' beds and groping them in her sleep. Which is lampshaded by Ms. Aki in the anime's corresponding episode But during the second OVA, she gets drunk and offers to let Takeru feel her up. She didn't have to ask twice.
Since most of the females in your hypno videos were pornstars, and thus knew they were shooting a porno; does that mean that they were okay with being hypnotized, receiving triggers, waking up, being informed about the demands, trying to leave, and then being forced back into trance via trigger, just to commit sex acts?