Yes, they launched 5 at Pearl Harbor, USS Ward sank one with a 5" through the conning tower off the entrance, USS Monahan rammed one in the harbor. Both were also depth charged. One washed up on the beach and the survivor was the first Japanese POW (that one is now on display at the Pacific War Museum in Fredricksberg, TX). I think they have now accunted for all 5. One was found with both torpedos expended, and there is some controversy over a captured Japanese photo taken from the air that shows a couple of extra torpedo tracks over drop splashes from Kates, and possible conning tower and "roostertails" from the prop as they were launched. So it is possible that one did get in and fire and get back out.
Later in the war they also had manned "kamakazi" torps.
The US was about the only country that did not have midgets of one sort or another during the war.