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do you want to learn about hardware or software?

to be as simple as possible; touching the screen will cause a resistive or capacitive difference in the electrical current fed through it and the OS will register a touch event.

In electronics and microprocessor programming hardware based events are handled by something called an interrupt & you can read more from wikipedia https://en.wikipedia.org/wiki/Interrupt

If you want to dig in deeper I can recommend some operating system textbooks. Android & iOS make handling touch events very easy by providing object oriented programming classes with all the hardware handling taken care of at a higher level than the programmer needs.

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