• 触ふれる — to touch; to come in contact; to mention
• 触さわる — to touch; to feel (with the hand)
• 感触かんしょく — feel; texture; sensation
• 接触せっしょく — contact; touching
• 触覚しょっかく — the sense of touch; tactile sense

The modern form 触 combines 角 “horn” on the left with 虫 “insect” on the right (from the older form 觸). Imagine a small creature brushing against a horn — a vivid clue for “to touch, to come into contact.”