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 eithe

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.