Obviously our senses will limit the information we receive, and thus limit our knowledge; I cannot directly perceive heat emissions from another animal as can a snake, so I will not know--without the use of instruments designed to register heat signatures--that endothermic animals give off heat. My dog perceives colors, but not to the extent I do, so he may not sense a color difference between two objects. On the other hand, he can perceive scents that I will never perceive.
Yes, that means that our understanding of the universe is limited by what we can, or cannot, perceive, but that is not the most important limitation. Suppose there is another creature with twenty senses, who could obviously directly perceive things we cannot. This creature could also have a totally hard-wired brain, rendering him incapable of learning. He can use the data but not understand it.
Besides, knowing that our knowledge is limited, that it is tentative, and always incomplete is a good thing, I think. It helps keep us seeking.