The nature of reality and the existence of physical objects is a complex philosophical question that has been debated for centuries. In the realm of quantum mechanics, particles such as electrons and protons are described by wave functions, which represent the probability distributions of their properties like position and momentum. This description is fundamentally different from the classical notion of particles as solid, distinct entities with precise positions and trajectories.
However, it's important to note that while particles exhibit wave-like behavior, they can also exhibit particle-like behavior under certain circumstances. This is known as wave-particle duality. When interacting with other particles or measurement apparatus, they can be detected as discrete entities with localized positions, and they can interact and affect their surroundings.
From a practical standpoint, our perception of touch and the sensation of physical contact are a result of macroscopic interactions between objects at a larger scale. The electromagnetic forces between the electrons in the outermost electron shells of atoms prevent objects from interpenetrating each other, giving us the sense of physical touch. These forces arise from the interactions of the underlying particles, even if those particles are not themselves solid objects.
In essence, our perception and experience of reality are shaped by macroscopic phenomena and emergent properties that arise from the underlying quantum nature of particles. While particles may not behave as classical solid objects on a microscopic scale, our macroscopic world and the physical interactions we experience emerge from these quantum foundations.