I guess not! When we ‘touch’ something, what we’re actually feeling is atoms repelling each other. For example, if you put your hand on a table, the atoms in the table are pushing away the atoms in your hand. This is why you feel the table pushing back against your hand, and why you can’t just put your hand through a table (unless you’re very strong!). Good question!
It depends what you mean by touch! Take for example your hand touching a table. At the atomic level, there’s a force between your hands and the table, caused by the electrons in your hand repelling the electrons in the table. This is what stops you pushing your hand through the table, even though both it and you are mostly empty space. Does this count as touch?
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