Wireless sensor and actuator networks (WSAN) are composed of small smart nodes with sensing and/or actuating capabilities, and one or more sinks that help achieve the network’s goals. Al- though IPv6, with the 6LoWPAN specification, is readily avail- able for sensor networks, deployments still employ dedicated routing and transport protocols. Moreover, Internet connectiv- ity, automatic node attachment, and mobile access to data are sometimes overlooked. This paper extends the ZenSens user- oriented system architecture, introducing actuation support, and a novel mobile iPhone application. ZenSens features Plug-and- Play node attachment and operation, testbed with nodes running Contiki with IPv6 support, and World Wide Web access. As a re- sult, ZenSens brings the power of WSAN to users without tech- nological background. The system is presented, namely node firmware and Desktop software, together with iPhone native ap- plication, and Web access. With ZenSens data is accessible ev- erywhere, thus turning sensor and actuator networks into ubiqui- tously accessible systems.