Privatized sensation as ipsundrum loop
Sensory responses began as overt bodily wriggles directed at stimuli on the body surface, then became privatized: the motor command was short-circuited so it targets the body's own sensory map rather than the actual skin. This self-referential feedback loop, which Humphrey calls an ipsundrum, creates a sensation that is about the organism's own act of responding, and this is where phenomenal feel originates.
