Not sure exactly what you're asking here. Neither a batter nor a base runner may INTERFERE with a fielder attempting to field a ball. If there's contact without interference, nothing happens.
If a fielder is blocking the path of a base runner from reaching a base, the runner is definitely permitted to touch that fielder -- up to and including ramming his elbow into that fielder's neck.
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Not sure what you mean by "incidental" contact, but I'll presume you mean can there be contact between a fielder and a base runner, that results in neither interference nor obstruction.
The answer is yes.
MLB Rule 7.08(b) states that a base runner is out when "He intentionally interferes with a thrown ball; or hinders a fielder attempting to make a play on a batted ball." I suppose that physical contact that does not "hinder" the fielder would not result in the runner being called out.
The commentary on Rule 7.09(i) give a little more leeway on obstruction: "Obstruction by a fielder attempting to field a ball should be called only in very flagrant and violent cases because the rules give him the right of way" So, again, if the contact was not "flagrant and violent," then no obstruction would be called.
Yes. No problem.
However, a base runner can neither pass another runner nor may he assist the other runner in running the bases.
ya....if they swing and hit the glove then its called catcher interference. the batter then gets to go to first base