Pneumatic actuators are widely used in the industrial field thanks to their cost-effectiveness, versatility, and mechanical simplicity compared to other types of actuators. Furthermore, the use of air enables greater flexibility in their application, even in flammable or explosive environments and, air as a driving fluid, is considered a sustainable resource compared to other fluids as oils. This thesis presents a comprehensive study focused on examining the three distinct regimes of friction, namely pre-sliding, transition, and gross-sliding, in the context of pneumatic actuation systems. The primary objective of this research is to gain a deep understanding of the frictional behaviours that occur when pneumatic actuators are employed, which is crucial for enhancing the efficiency, control, and reliability of such systems.