I use my elbow. It is the same recommendation as to cough to your elbow. You do not touch with your elbow on yourself or others so it is generally safe.
Unfortunately not always practical due to poorly designed handles and lock mechanisms. I usually "sacrifice" my little finger for this when I have to use my hands, with the theory that I'm much less likely to put that finger in my mouth or eye etc.
Alternatively, the back of your knee:
https://www.youtube.com/watch?v=VkLfAG0AAzQ
Though this is more for the coughing/sneezing rather than the door opening.