The word for today is…
haptic (adjective)
1 : relating to or based on the sense of touch
2 : characterized by a predilection for the sense of touch a haptic person
Source : Merriam-Webster
Etymology : Haptic (from the Greek haptesthai, meaning “to touch”) entered English in the late 19th century as a medical synonym for “tactile.” By the middle of the 20th century, it had developed a psychological sense, describing individuals whose perception supposedly depended primarily on touch rather than sight. Although almost no one today divides humans into “haptic” and “visual” personalities, English retains the broadened psychological sense of “haptic” as well as the older “tactile” sense.
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