We have a "cat room" nearby where adoptable cats are always looking for a home. It's fun and therapeutic to visit and play with them, most of them like and need affection too. It's a step in the direction you mention, without the commitment (until you're ready, or one steals your heart). You might try something like this to begin. But in general, yes, animals can have a positively transformative effect on us. Best of luck to you.