"手摸时有感觉的" can be translated as "perceptible to the touch" or "having a tactile sensation when touched" in English.
For a more concise and commonly used expression in everyday contexts, you might say "something you can feel when you touch it" or simply "tangible" (though "tangible" more broadly means capable of being touched or felt, not necessarily implying a specific sensation upon touching). However, for a direct and precise translation of the given phrase, "perceptible to the touch" is a good choice.