I found Stiny’s book a little bit tricky to get into, with all its twists and turns, but this paper with Terry Knight much more accessible and practical:
https://core.ac.uk/reader/127609300
Then extend the idea into making, combining grammar for ‘doing’ and ‘sensing’.
I enjoyed this retrospective lockdown talk with Terry Knight:
Kolam and Khipu make an appearance!
It’d be interesting to find out what her group is up to now.