So you don't say that you percieve stimuli with touch, taste and pain receptors? Instead you should say that you sense it? I'm not a native speaker. That's why I'm curious about the distinction.
Yes, you perceive things you touch, because perception encompasses each and every sense. "To sense" does not mean exactly to use sensation. "To sense" can either be used as a synonym of "to perceive" or as a vaguer form of awareness. For example, you could say that you "sense danger" even when nothing is immediately threatening, if you can see various signs that all put together point to something being wrong.
