H. P. Grice, "The utterer as the sender"

Latin sensus "perception, feeling, undertaking, meaning," from sentire "perceive, feel, know," probably a figurative use of a literally meaning "to find one's way," or "to go mentally," from PIE root *sent- "to go" (source also of Old High German sinnan "to go, travel, strive after, have in mind, perceive," German Sinn "sense, mind," Old English sið "way, journey."