A menstrual wife can washing husband's head and combing his hair.

Hadith

Narrated Urwa : 

A person asked me, "Can a woman in menses serve me? And can a Junub woman come close to me?" 

I replied, "All this is easy for me. All of them can serve me, and there is no harm for any other person to do the same. `

Aisha told me that she used to comb the hair of Allah's Messenger (ﷺ) while she was in her menses, and he was in l'tikaf (in the mosque). He would bring while she was in her his head near her in her room and she would comb his hair, while she used to be in her menses."

Sahih al-Bukhari 296 In-book : Book 6, Hadith 3

Hadith

حَدَّثَنَا إِبْرَاهِيمُ بْنُ مُوسَى، قَالَ أَخْبَرَنَا هِشَامُ بْنُ يُوسُفَ، أَنَّ ابْنَ جُرَيْجٍ، أَخْبَرَهُمْ قَالَ أَخْبَرَنِي هِشَامٌ، عَنْ عُرْوَةَ، أَنَّهُ سُئِلَ أَتَخْدُمُنِي الْحَائِضُ أَوْ تَدْنُو مِنِّي الْمَرْأَةُ وَهْىَ جُنُبٌ فَقَالَ عُرْوَةُ كُلُّ ذَلِكَ عَلَىَّ هَيِّنٌ، وَكُلُّ ذَلِكَ تَخْدُمُنِي، وَلَيْسَ عَلَى أَحَدٍ فِي ذَلِكَ بَأْسٌ، أَخْبَرَتْنِي عَائِشَةُ أَنَّهَا كَانَتْ تُرَجِّلُ ـ تَعْنِي ـ رَأْسَ رَسُولِ اللَّهِ صلى الله عليه وسلم وَهِيَ حَائِضٌ، وَرَسُولُ اللَّهِ صلى الله عليه وسلم حِينَئِذٍ مُجَاوِرٌ فِي الْمَسْجِدِ، يُدْنِي لَهَا رَأْسَهُ وَهْىَ فِي حُجْرَتِهَا، فَتُرَجِّلُهُ وَهْىَ حَائِضٌ‏.‏

Nothing shameful

Hadith 

Narrated Um Salama :

While I was laying with the Prophet (ﷺ) under a single woolen sheet, I got the Menses . I slipped away and put on the clothes for menses. He said, "Have you got "Nifas" (menses)?" I replied, "Yes." He then called me and made me lie with him under the same sheet.

Sahih al-Bukhari 298

In book : Book 6 Hadith 5

Hadith 

حَدَّثَنَا الْمَكِّيُّ بْنُ إِبْرَاهِيمَ، قَالَ حَدَّثَنَا هِشَامٌ، عَنْ يَحْيَى بْنِ أَبِي كَثِيرٍ، عَنْ أَبِي سَلَمَةَ، أَنَّ زَيْنَبَ ابْنَةَ أُمِّ سَلَمَةَ، حَدَّثَتْهُ أَنَّ أُمَّ سَلَمَةَ حَدَّثَتْهَا قَالَتْ، بَيْنَا أَنَا مَعَ النَّبِيِّ، صلى الله عليه وسلم مُضْطَجِعَةً فِي خَمِيصَةٍ إِذْ حِضْتُ، فَانْسَلَلْتُ فَأَخَذْتُ ثِيَابَ حِيضَتِي قَالَ ‏

‏ أَنُفِسْتِ ‏"

‏‏‏ قُلْتُ نَعَمْ‏‏ فَدَعَانِي فَاضْطَجَعْتُ مَعَهُ فِي الْخَمِيلَةِ‏‏

Menstrual wife can sit on the mat beside Husband

Narrated Maimuna

(the wife of the Prophet) During my menses, I never prayed, but used to sit on the mat beside the mosque of Allah's Messenger (ﷺ). He used to offer the prayer on his sheet and in prostration some of his clothes used to touch me."

Sahih Al-Bukhari 333

In-Book : Book 6, Hadith 37

Do not feel Ashmed on your Periods

Hadith

Narrated `Aisha: The Prophet (ﷺ) used to lean on my lap and recite Qur'an while I was in menses. 

Sahih al-Bukhari 297 In-book : Book 6, Hadith 4 

Hadith

حَدَّثَنَا أَبُو نُعَيْمٍ الْفَضْلُ بْنُ دُكَيْنٍ، سَمِعَ زُهَيْرًا، عَنْ مَنْصُورٍ ابْنِ صَفِيَّةَ، أَنَّ أُمَّهُ، حَدَّثَتْهُ أَنَّ عَائِشَةَ حَدَّثَتْهَا أَنَّ النَّبِيَّ صلى الله عليه وسلم كَانَ يَتَّكِئُ فِي حَجْرِي وَأَنَا حَائِضٌ، ثُمَّ يَقْرَأُ الْقُرْآنَ‏.‏

Note : Using the word Nifas for menses.

A menstruating women should perform all the ceremonies of Hajj except....,

Narrated `Aisha: 

We set out with the Prophet (ﷺ) for Hajj and when we reached Sarif I got my menses. When the Prophet (ﷺ) came to me. I was weeping. He asked, "Why are you weeping?" I said, "I wish if I had not performed Hajj this year." He asked, "May be that you got your menses?" I replied, "Yes." He then said, "This is the thing which Allah has ordained for all the daughters of Adam. So do what all the pilgrims do except that you do not perform the Tawaf round the Ka`ba till you are clean."

Sahih al-Bukhari 305 

In-book : Book 6. Hadith 10

Even You recite the Qur'an in the lap of one's own menstruating wife

Hadith

Narrated `Aisha : 

The Prophet (ﷺ) used to lean on my lap and recite Qur'an while I was in menses.

Sahih al-Bukhari 297

In-book : Book 6 Hadith 4

Hadith

حَدَّثَنَا أَبُو نُعَيْمٍ الْفَضْلُ بْنُ دُكَيْنٍ، سَمِعَ زُهَيْرًا، عَنْ مَنْصُورٍ ابْنِ صَفِيَّةَ، أَنَّ أُمَّهُ، حَدَّثَتْهُ أَنَّ عَائِشَةَ حَدَّثَتْهَا أَنَّ النَّبِيَّ صلى الله عليه وسلم كَانَ يَتَّكِئُ فِي حَجْرِي وَأَنَا حَائِضٌ، ثُمَّ يَقْرَأُ الْقُرْآنَ‏.‏

Fondling A Menstruating Wife

Hadith 

Narrated `Abdur-Rahman bin Al-Aswad:

 (on the authority of his father) `Aisha said: "Whenever Allah's Messenger (ﷺ) wanted to fondle anyone of us during her periods (menses), he used to order her to put on an lzar and start fondling her." 

`Aisha added, "None of you could control his sexual desires as the Prophet (ﷺ)  could."

Sahih al-Bukhari 302

In-book : Book 6 Hadith 7

Hadith

حَدَّثَنَا إِسْمَاعِيلُ بْنُ خَلِيلٍ، قَالَ أَخْبَرَنَا عَلِيُّ بْنُ مُسْهِرٍ، قَالَ أَخْبَرَنَا أَبُو إِسْحَاقَ ـ هُوَ الشَّيْبَانِيُّ ـ عَنْ عَبْدِ الرَّحْمَنِ بْنِ الأَسْوَدِ، عَنْ أَبِيهِ، عَنْ عَائِشَةَ، قَالَتْ كَانَتْ إِحْدَانَا إِذَا كَانَتْ حَائِضًا، فَأَرَادَ رَسُولُ اللَّهِ صلى الله عليه وسلم أَنْ يُبَاشِرَهَا، أَمَرَهَا أَنْ تَتَّزِرَ فِي فَوْرِ حَيْضَتِهَا ثُمَّ يُبَاشِرُهَا‏.‏ قَالَتْ وَأَيُّكُمْ يَمْلِكُ إِرْبَهُ كَمَا كَانَ النَّبِيُّ صلى الله عليه وسلم يَمْلِكُ إِرْبَهُ‏.‏ تَابَعَهُ خَالِدٌ وَجَرِيرٌ عَنِ الشَّيْبَانِيِّ‏.‏