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In page Onychophora:

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The entire body, including the stub feet, is littered with numerous papillae: warty protrusions responsive to touch that carry a mechanoreceptive bristle at the tip, each of which is also connected to further sensory nerve cells lying beneath. The mouth papillae, the exits of the slime glands, probably also have some function in sensory perception. Sensory cells known as "sensills" on the "lips" or labrum respond to chemical stimuli and are known as chemoreceptors. These are also found on the two antennae, which seem to be the velvet worm's most important sensory organs.[citation needed]