It can be implemented with a fiber optics cable with only the transmitter on the secure side, a laser+photo cell for real air gap, cutting the rx cable in a rs232 or having a microcontroller with an output pin connected to another controllers input pin. By handling it with hardware instead of software you get a very secure partition between the trusted and untrusted side.
It's used to monitor for example industrial systems and power plants.
Wikipedia calls it unidirectional network: https://en.wikipedia.org/wiki/Unidirectional_network
You can't drive my car simply by pointing a webcam on the steering wheel.
My position is that if there's any connection, of any practical type, between the control system and the outside world, an attacker will be able to find ways to break things.
Even if it just boils down to "an attacker made our dashboards report numbers wrong and so we closed a valve to prevent an issue that didn't exist, and inadvertently destroyed our own product", the outcome is the same.
Temperature sensor is a sensor. Refrigeration compressor motor is an actuator.
GPS positioning of a car is a sensor. Motor to turn the wheel is an actuator.
Aircraft altimeter is a sensor. Motors to control control surfaces are actuators.
And so on.