To understand why you can never touch anything, you need to understand how electrons function, and before you can understand that, you need to know basic information about the structure of atoms
For starters, almost all of the mass an atom has is concentrated into an incredibly small region called the nucleus. Surrounding the nucleus is a whole lot of seemingly empty space, except for the region within an atom where electrons (and protons) can be found orbiting the central nucleus. The number of electrons within an atom depends on the element each atom is supposed to comprise.
Like photons, this funky subatomic particle also exhibits the particle-wave duality, which means that the electron has characteristics of both a particle and a wave. On the other hand, they have a negative charge. Particles are, by their very nature, attracted to particles with an opposite charge, and they repel other similarly charged particles.
This prevents electrons from ever coming in direct contact (in an atomic sense and literal sense). Their wave packets, on the other hand, can overlap, but never touch.
The same is true for all of humankind. When you plop down in a chair or slink into your bed, the electrons within your body are repelling the electrons that make up the chair. You are hovering above it by an unfathomably small distance.
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In physics, antimatter is defined as the counterpart of normal matter, with the same mass but opposite electric charge. For example, a positron is the antimatter equivalent of an electron. It has the same mass and spin as an electron, but a charge of +1 instead of -1.
Antiparticles (such as positrons and antiprotons) can bind with each other to form antimatter (such as antihydrogen), just as ordinary particles bind to form normal matter. For the past a few years, scientists at CERN (European Organization for Nuclear Research) have been producing antihydrogen by slowing downing high energy antiprotons and smashing them into positrons.
Due to its explosive nature (it annihilates when in contact with normal matter) and energy-intensive production, the cost of making antimatter is astronomical. CERN produces about 1x10^15 antiprotons every year, but that only amounts to 1.67 nanograms. To make one full gram (approximately 0.035 ounces) of the antiproton, scientists will need to continue their production at the current rate for another 6x10^8 years, and it will cost them a whopping 2.5x10^15 euros!
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