By utilizing the direct relationship among  magnetic fields, motor pose, as well as the force/torque, smart actuators are designed with actuation modules embedded with magnetic sensors that allows for self-sensing of motion and force/torque. The design concept not only leads to direct-drive motors that fulfill special requirements for advanced motion systems, but also eliminate the need to install encoders and force/torque sensors.  The smart actuators with actuation-sensing-control-integration can greatly improve system complexity as well as control efficiency.