"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.