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English word sensory comes from Latin sensorius (sensory), which is a form of Latin sensus (a feeling, sentiment), which in turn ultimately derives from Proto-Indo-European *sent- (to feel)
*sent- (Proto-Indo-European)
to feel , to go, walk, travel, to head for
sentio (Latin)
I feel; I perceive with the senses. I have an opinion; I feel an emotion. I perceive: I notice mentally.
sensus (Latin)
(poetic) understanding, reason. A feeling, sentiment. Perception, capability of feeling, ability to perceive.
sensorius (New Latin)
Sensory.
sensory (English)
Of the senses or sensation. (biology, dated) sensorium.