You may feel heat via radiation’s effect on materials as thermoelectric effects can be a useful electricity source.
For accident related to “sensing” radiation by touch, try link below.
Essentially, three guys in a former Soviet state found two unlabeled radiation sources formerly used to power a remote radio station.
Of note, a guy immediately dropped one source because it was so hot.
They thought these weird things could be useful for the heat generated. After all, in deep winter there was no snow around the sources and the ground was steaming.
Too late to leave site in deep winter, they camped overnight, sleeping near the sources to keep warm.
One guy died, other two injured.
https://en.wikipedia.org/wiki/Lia_radiological_accident?wprov=sfla1
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