In a sense, the divine revelation at the giving of the Torah was even more direct than normative sensory experience, when the eye sees objects and the ear perceives sounds.
That revelation had no concealment whatsoever: it was perception so unmediated that the people saw sounds and heard objects–a tangible experience of the divine essence as it pierced the usual bounds of the senses.
–Rabbi Adin Steinsaltz
From Understanding the Tanya, p. 228, by Rabbi Adin Steinsaltz