Sensual massage: sensuous massage is the use of massage techniques to achieve or enhance sexual arousal.
Erotic massage: Sensual and sexually arousing body massage, which may includes stimulation of the sexual organs with hands, body, or mouth.
Tantric massage: Tantric massage is basically just a massage. However it was created from the belief that if you are sexually happy and relaxed then your health will benefit. The Hindus describe Tantra as achieving personal growth through pleasurable existence. The massage itself does tend to cause orgasms, but these are described as a bonus rather than the aim.
Although Tantric massage does not involve actual penetrative sex, it does involve full on touching of the organs. For this reason you will not find it offered down your local health centre.