Haptic communication

Haptic communication is the means by which people and other animals communicate via touching. Touch is an extremely important sense for humans; as well as providing information about surfaces and textures it is a component of nonverbal communication in interpersonal relationships, and vital in conveying physical intimacy. It can be both sexual (kissing is one such example that is sometimes sexual) and platonic (such as hugging or tickling).
Touch is the earliest sense to develop in the fetus. The development of an infant's haptic senses and how it relates to the development of the other senses

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