I can sometimes tell, but mostly because there is no fat whatsoever in the way (not to brag; most women do have a fairly decent level of body fat, I'm just super skinny). It is usually when I get a big kick or punch and grab the offending limb, you can tell if it's a hand or foot. Same with a headbutt - the baby was right out in front one night and you could feel the whole body! Sadly, the baby has now jumped back and burrowed into my spine again so there's too much fluid in the way to tell. It has made the baby more quiet, for which I'm glad!

Having said all of that, I only started being able to tell a week ago!