Touching is having or getting a zero distance; in geometry it refers especially to a tangent line or curve (cf. collision). This term can be used to describe interaction between any physical objects. In medicine, the colloquial term "touch" is usually replaced with somatic senses, to better reflect the variety of mechanisms involved.
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Touch and Sensation :: Senses
Sensation and Perception :: Psychology

Numbness and Tingling - Overview of this condition. From Medline Plus.
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