Sensors and actuators, often based on new, smart materials, are the sensory organs and muscles of the Tactile Internet. This chapter provides a comprehensive overview of these crucial hardware components. The chapter explores innovations, such as electronic-skin force sensor arrays, force-feedback gloves, vibrotactile arrays, and textile-based sensors, as well as their integration and performance in capturing motion and providing affective haptic feedback. The chapter underscores the significance of high-performance sensor characteristics in motion capture and human–machine interaction within the Tactile Internet. By examining these technologies, the chapter showcases the evolution of Tactile Internet sensors and actuators.