What is the ruling on worshippers wiping their hands over their bodies when the Imam mentions the names of the Companions (Abu Bakr, Umar, Uthman, and Ali) during the sermon?

If the intention behind wiping (a surface) while mentioning the names of the Companions is to seek blessing (tabarruk), then it is not permissible due to the lack of evidence for it. Such matters are devotional (tawqifiyyah) and are restricted to what has been ورد in the Sunnah, and whatever has no evidence supporting it is not permissible.