Drivers
A driver is a computer program or software module that interacts with connected or built-in hardware. For this purpose, the driver communicates on mostly directly with the device and exchanges control signals and data with the device.
A sensor (sometimes detector, transducer or probe) is a technical component that can qualitatively or quantitatively measure certain physical or chemical properties and/or the material composition of its environment. These are, for example, bumper sensors (buttons), cameras, distance sensors, an IMU or also temperature sensors, humidity sensors etc.
Actuators are usually drive units that convert an electrical signal into mechanical movements or changes in physical variables and thus actively intervene in the controlled process. In the field of robotics, these are usually motors. In some cases you need an extra controller board for some actuator.