The Internet of Things (IoT) is becoming increasingly popular, expanding into applications in almost every sector of our society, impacting the economy and daily life of citizens. As IoT applications grow, so does the demand for new devices with actuation capabilities, such as smart light bulbs, HVAC devices, smart locks, communication-capable industrial machines, robots, drones, and so on. Many software platforms are being developed to support the development of distributed IoT applications and to facilitate cloud sensor communication and edge processing capabilities. But surprisingly, very little has been done to provide middleware-level support and generic mechanisms for discovering devices and their interfaces, and executing activation commands, i.e. transferring them to the device. This work presents an extension to the ContextNet Middleware to support generic and remote actuation on devices connected by the Internet of Things.