There are a number of alternative theories to essentialism. An anthropologist, for example, believes that human behavior is greatly affected by the culture and environment in which he is raised.
Touch. Touch is one of the best-developed senses at birth -- and it's absolutely crucial to bonding. Cuddling your baby will make him feel warm and secure, as will swaddling because it re-creates the confined feeling of the womb. And, yes, babies explore through touch, and their preferred tool is their mouth.
Children with a Sensory Processing Disorders usually feel less on the left side of their body. Note which side they have more inaccuracies on or seem to have a weaker sense. The weaker side of the body indicates a weaker function in the opposite side of the brain.