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Tangible interaction shows promise to significantly enhance computer-mediated support for activities such as learning, problem solving, and design. However, tangible user interfaces are currently considered challenging to design and build. Designers and developers of these interfaces encounter several conceptual, methodological, and technical difficulties. Among others, these challenges include: the lack of appropriate interaction abstractions, the shortcomings of current user interface software tools to address continuous and parallel interactions, as well as the excessive effort required to integrate novel input and output technologies. To address these challenges, we propose a specification paradigm for designing and implementing Tangible User Interfaces (TUIs), that enables TUI developers to specify the structure and behavior of a tangible user interface using high-level constructs which abstract away …