For me it is the fact that our blood contains iron. I earlier used to believe the word stood for some ‘organic element’ since I couldn’t accept we had metal flowing through our supposed carbon-based bodies, till I realized that is where the taste and smell of blood comes from.
That’s just semantics. For any real definition of “touch”, we do touch objects.
“to put the hand, finger, etc., on or into contact with (something) to feel it”
The electromagnetic fields of your hand come in contact with those of the object, and you feel it.