If an hiv person masturbated towel unknowingly used to clean our penis may spread hiv ?

Unlikely: This is nearly inconceivable, but nothing is impossible. This is simply not the way in which HIV disease is transmitted. If you have had sex with this person go and get tested and prophylaxed immediately.

HIV is hard to get: Hiv is not caught from inanimate objects. Hiv is not caught through normal skin. There is zero risk in this scenario. The risk is if this person's semen or blood got into your rectum or throat. The other factor here is that most known HIV positive humans are on effective treatment that leads to viral suppression and significant lowering of their contagiousness. Hiv does not live on objects.

No: Arun, you're a grown man now. These concerns are unrealistic -- and truth be told, so is the scenario. Who in the world would do something like that? If someone is telling you, "This is how I got HIV", that person is probably not telling you the truth. Stop troubling yourself, practice basic common sense and good hygiene, and remember that experince shows casual contact doesn't spread HIV.