The series stars Sutherland as a man with a psychic and autistic son, Jake (David Mazouz). Raw, who starred in NBC's short-lived Undercovers, will play a social worker from Child Services who is evaluating whether or not Jake should continue living at home.
As previously announced, Danny Glover will play a professor who specializes in children who are gifted in how they view numbers.
Touch — expected to land on Fox at midseason — marks Sutherland's first post-24 series.
Deadline.com first reported the news.