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Receptors which respond primarily to injurious or painful stimulation are called nociceptors. Within this general category are four subgroups: mechanonociceptors, mechano-heat nociceptors, mechano-cold nociceptors, and poly modal nociceptors. Nociceptors are found in skin, muscles, joints, and the viscera.
Mechanoreceptors detect tension, pressure, vibration, sound, and displacement. Thus, these receptors can not only detect touch but also sense muscle contractions and spatiality. There are several different types of mechanoreceptors. Four main types of mechanoreceptors found in the skin detect varying degrees of touch.