Sensory Seeker, Slamming into Baby gate, Banging Head on wall or Rolling in Blankets

Over the last couple months my son has started slamming himself down on the bed over and over or hitting his head on the wall. Now he insists on carrying a Queen size blanket around and rolls on the ground with it. I am learning about the sensory processing thru his occupational therapy and understand but it breaks my heart to watch him do these things. I dont know how to handle it, I tell him to stop hurting himself, I say his name over and over with no response. He is very clumbsy so I have foam noodles on every edge or hard surface in my house. Its becoming more prevalent every day... I wonder if he knows he is a lil different or if he is sad or mad ... My heart is just aching and I feel helpless