Since we technically never truly ‘touch’ anything due to electron repulsion between atoms, how can we sense touch and have a very clear sense of texture?

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Since we technically never truly ‘touch’ anything due to electron repulsion between atoms, how can we sense touch and have a very clear sense of texture?

In: Biology
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That repulsion compresses atoms under your skin which are sensitive to being compressed, and they send an electric signal to your brain so it knows that it has touched something.

Can someone ELI5 the part were we don’t truly touch anything?