Here is what most people can sense when they touch: Hard, Soft, Smooth, Rough, Vibrations, Hot, Cold, Grit, Paste, Electric, Sharpness and much more.

What they can’t sense by touch is color, substance (glass or metal), smell etc. Also we are limited to experiencing touch only relative to our size. We cannot for instance feel fine holes in materials, or detect minuscule temperature difference or small difference in material type.

More about touch can be found here.