It seems there might be a misconception in your question. Atoms are not hollow in the sense that they contain empty space within them. Instead, atoms consist of a nucleus, which contains protons and neutrons, surrounded by a cloud of electrons. The electrons occupy specific energy levels or orbitals around the nucleus.
When we touch or feel something, it's due to the interaction between the electrons of the atoms in our bodies and the electrons of the object we're touching. At a microscopic level, when two objects come into contact, the electron clouds of their atoms repel each other. This repulsion creates the sensation of touch. The resistance you feel when pressing your hand against a solid object is a result of the repulsive forces between the electrons of your hand and the object.
While atoms do contain a vast amount of empty space relative to their size, it is important to note that the sensation of touch arises from the interaction of the electron clouds, not from physical contact between the nuclei of the atoms involved. The properties of matter, including its solidity, are determined by the electromagnetic interactions between the electrons, which is why we can still feel objects despite the empty space within atoms.