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I just had a lucid dream earlier where I tried to put my head against the wall and I could barely feel it. it feels weird, its like my sensors are only have way on, I don't feel it completely. I've had this problem many times when it came to kissing dream characters. its like I can barely feel their faces, it makes kissing very unpleasant.
Could simply be a lack of vividness or clarity. Try focusing on what little sensation is there, might make it more pronounced. Simply exclaiming "vividness now" and putting a real impact behind the words could help matters too.
In addition, I think a lot of us tend to focus on just one or two of our senses in waking life most of the time, the dominant senses, and I suspect that those dominant senses are more likely to be more vivid in dreams as well. If you spend more time being aware of the sense of touch in waking life, put more emphasis on it, I think that may help being it out more in your dreams as well. You could also mantra, set your intensions and expectations, by saying "In my dreams I feel vividly" or something like that - expect it to happen, and it shall. Best of luck!
I agree with what JoannaB said. On top of that, inside the dream, just focus on grounding all of your senses. Really raise your awareness of everything before you continue with the dream. This will help with clarity, and it will also make your lucid dreams last longer.
I forgot to mention this but it feels almost like touching something with a numb foot or finger. very unpleasant. anyways thanks for the replies and when this does happen, I do make attempts to heighten clarity but the success can be very inconsistent. when it comes to kissing dream characters I just have no luck with it, feels like complete crap sense the first time I tried it which was a couple dozen lucids ago.