As of now (I hope this isn’t show-stopping for you), I don’t believe there’s any way to sense collision between 2 “kinematic” objects. This might be a Box2D limitation more than a Corona limitation, I’m not sure.
If it’s possible in your app, try to use dynamic objects whenever possible, setting them as sensors if you don’t want them to physically collide/bounce. Of course, if you’re using gravity then this usually isn’t possible (the point of “kinematic” is that they don’t respond to gravity and similar forces). If you’re NOT using gravity, then it should be possible to make most bodies, or all, into dynamic bodies so they always sense collision (or at least one of the two colliding must be dynamic, the other can be kinematic).
The good news is, “improved physics” has been on the Ansca priority list for some time. I think this includes collision of non-physical objects, but who knows anymore, it’s been on the list for months. Hopefully now that the massive graphics/sprites overhaul has been put into motion, a key priority for Ansca is the physics system. Many developers have been begging this for a LONG time. 
Brent Sorrentino
Ignis Design
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