sense (n.) Look up sense at Dictionary.com
c.1400, "faculty of perception," also "meaning or interpretation" (esp. of Holy Scripture), from O.Fr. sens, from L. sensus "perception, feeling, undertaking, meaning," from sentire "perceive, feel, know," prob. a fig. use of a lit. meaning "to find one's way," from PIE base *sent- "to go" (cf. O.H.G. sinnan "to go, travel, strive after, have in mind, perceive," Ger. Sinn "sense, mind," O.E. siš "way, journey," O.Ir. set, Welsh hynt "way"). Application to any one of the external or outward senses (touch, sight, hearing, etc.) first recorded 1526.
"Hornkostel cites a Negro tribe that has a separate word for seeing, but employs a common term for hearing, tasting, smelling, and touching." [A.G. Engstrom, "Philological Quarterly," XXV, 1946]
The verb meaning "to perceive by the senses" is recorded from 1598. Senses "mental faculties, sanity" is attested from 1568.