In view of the chaotic and fuzzy phenomenon of tangible interaction design and related concepts, the work aims to sort out and summarize the development history of tangible interaction design, discuss and define the concept of tangible interaction design, and analyze the development relationship of the tangible interaction design concept. Through literature research, the origin and development of tangible interaction research direction, tangible interaction conceptual model, domain-specific tangible interaction design research and implementation techniques were sorted out, and the concept and relationship of tangible interaction design were defined. With Hornecker's framework of tangible interaction as the prototype, this study established a model for interaction element analysis, conducted correlation analysis of interaction elements for the concept of tangible interaction design, and obtained the development relationship of the tangible interaction design concept by comparative analysis. The concept and basic relationship of tangible interaction design were defined, and the development relationship of the tangible interaction design concept based on element correlation was obtained. The development of tangible interaction design is roughly divided into three stages, namely the germination of physical input, the development of physical-digital coupling, and the transformation of experience orientation. Such concepts as graspable interface, tangible interface, and Radical atoms all fall into the category of tangible interaction design. The development of tangible interaction design and interaction elements enhances each other. The development history of experience-oriented tangible interaction design is reflected from physical elements as the core to the tangible interactive interface enhancing expressiveness through technology, to the physical and expressive-based tangible interaction system with space and embodiment.