Sensual

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late Middle English (in the sense ‘sensory’): from late Latin sensualis, from sensus (see sense).

wiktionary

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From Late Latin sensualis(“endowed with feeling, sensual”), from Latin sensus(“feeling, sense”).

etymonline

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sensual (adj.)

early 15c., "carnal, unspiritual;" mid-15c., "of or pertaining to the senses," from Old French sensuel (15c.) and directly from Late Latin sensualis "endowed with feeling" (see sensuality). Meaning "connected with gratification of the senses," especially "lewd, unchaste" is attested from late 15c.