Sensual, sensuous, voluptuous refer to experience through the senses. Sensual refers, often unfavorably, to the enjoyments derived from the senses, especially from the gratification or indulgence of physical appetites: a sensual delight in eating; sensual excesses.
Sensuous refers, favorably or literally, to what is experienced through the senses: sensuous impressions; sensuous poetry.
Voluptuous implies the luxurious gratification of sensuous or sensual desires: voluptuous joys; voluptuous beauty.
See also carnal