Page "Stimulus modality" Paragraph 41

The cutaneous somatosensory system detects changes in temperature.

The perception begins when thermal stimuli from a homeostatic set-point excite temperature specific sensory nerves in the skin.

Then with the help of sensing range, specific thermosensory fibers respond to warmth and to cold.

Then specific cutaneous cold and warm receptors conduct units that exhibit a discharge at constant skin temperature.