Aspects of the present disclosure describe a battery-free touch sensing user interface (UI) for Internet of Things (IoT) and other smart spaces employing Radio Frequency Identification (RFID) readers and tags that we call RIO. With RIO, any surface may be a touch-aware surface by attaching RFID tag(s) thereto. RIO advantageously supports custom-designed RFID tags and therefore facilitates customized UIs to be easily deployed in a real-world environment. RIO employs impedance tracking that results from a human finger—or other appendage—touching a surface of an RFID tag, thereby changing a characteristic impedance of the RFID tag antenna. This change manifests as a change in the phase of the RFID backscattered signal and is advantageously used by RIO to track fine-grained touch movement over the RFID tag. Disclosed further are multi-tag environments in which RIO operates and demonstrations including continuous tracking of finger movement during a swipe to within 3 mm of its actual position.