The sense of touch constructs our direct contact with the physical and social world. I'm touching your skin. Anzieu states that experiencing the world trough touching forms our identity.
To me this sounds logical: The first thing we humans grow to obtain live is a skin (membrane). With this skin we gain our sense of touch. No other senses are formed yet. The sense of touch is embedded in our skin. Later on in evolution, our other senses are developed, which are all derived from the mother of our senses: touch.