Actuation ans sensing are two key functions in most robotic systems. This course overviews different types of actuation and sensing mechanisms used in various robotic systems in the perspective of mechanical designs, control strategies, and data acquisitions. The class is composed of lectures and seminars. Specific topics may vary year-to-year including artificial muscle actuators, force and tactile sensors, and soft robotics technologies. Evaluation is based on homeworks and a term project. Prerequisites: No specific prerequisites. However, basic knowledge and hands-on experiences on mechanical design, prototyping, circuits, and mechatronics are expected.