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A sense was one's ability to perceive the world through various means of input. The five most common senses were taste, touch, hearing, smell, and sight.
In 2267, Leonard McCoy criticized Trelane's simulated food, saying it had no taste. Spock found that unsurprising, given as Trelane only knew how Earth food was supposed to look, having studied it from afar but never tasted it. (TOS: "The Squire of Gothos")