। ॥ ९४ ॥
In plain words
The five instruments of knowing are the ear, skin, eye, nose, and tongue — called instruments of knowing because they make objects known. And the five instruments of action are speech, hands, feet, the organ of excretion, and the organ of generation — each one built for doing.
Close to the Sanskrit
The organs of perception are: ear, skin, eye, nose, and tongue, [named so] due to their apprehension of objects. Speech, hands, feet, the anus, and the genital organ are the organs of action, inclined toward [various] actions.