There is a saying, "Sell the Sizzle, Not the Steak." It means to sell an experience, not a product. Our impressions of life come from our senses, and when you learn to appeal to your reader's senses, you will draw their whole body into the story or concept. Experiences create long-lasting impressions.
In Writing Magic: Creating Stories That Fly, Gail Carson Levine suggests an exercise to improve your sense imagery: Record a day's worth of sensations.
Every hour during your day, take 5 minutes to take stock of the things you can touch, smell, hear, see, and taste. Then, ask yourself if they inspire any other feelings or emotions in you. Finally, look for ways to elaborate on them.
I would also add that you should take note of internal sensations, such as pain, hunger, relaxed muscle, movement, tickling, itching, etc.
Take time for this exercise more than once, or until you find yourself taking note of sensation without thinking. Then, as it becomes a part of your daily habit, what you learn will work its way into your writing as well.