diff --git a/hardware_interface/include/hardware_interface/actuator.hpp b/hardware_interface/include/hardware_interface/actuator.hpp
index 585078c5fc..0121d0764d 100644
--- a/hardware_interface/include/hardware_interface/actuator.hpp
+++ b/hardware_interface/include/hardware_interface/actuator.hpp
@@ -107,6 +107,9 @@ class Actuator final
   HARDWARE_INTERFACE_PUBLIC
   return_type write(const rclcpp::Time & time, const rclcpp::Duration & period);
 
+  HARDWARE_INTERFACE_PUBLIC
+  std::recursive_mutex & get_mutex();
+
 private:
   std::unique_ptr<ActuatorInterface> impl_;
   // Last read cycle time
diff --git a/hardware_interface/include/hardware_interface/sensor.hpp b/hardware_interface/include/hardware_interface/sensor.hpp
index ce4db654da..1da3b80b58 100644
--- a/hardware_interface/include/hardware_interface/sensor.hpp
+++ b/hardware_interface/include/hardware_interface/sensor.hpp
@@ -91,6 +91,9 @@ class Sensor final
   HARDWARE_INTERFACE_PUBLIC
   return_type write(const rclcpp::Time &, const rclcpp::Duration &) { return return_type::OK; }
 
+  HARDWARE_INTERFACE_PUBLIC
+  std::recursive_mutex & get_mutex();
+
 private:
   std::unique_ptr<SensorInterface> impl_;
   // Last read cycle time
diff --git a/hardware_interface/include/hardware_interface/system.hpp b/hardware_interface/include/hardware_interface/system.hpp
index fe8eec4982..2b6b438b87 100644
--- a/hardware_interface/include/hardware_interface/system.hpp
+++ b/hardware_interface/include/hardware_interface/system.hpp
@@ -107,6 +107,9 @@ class System final
   HARDWARE_INTERFACE_PUBLIC
   return_type write(const rclcpp::Time & time, const rclcpp::Duration & period);
 
+  HARDWARE_INTERFACE_PUBLIC
+  std::recursive_mutex & get_mutex();
+
 private:
   std::unique_ptr<SystemInterface> impl_;
   // Last read cycle time
diff --git a/hardware_interface/src/actuator.cpp b/hardware_interface/src/actuator.cpp
index 0600decf1e..d11357aef9 100644
--- a/hardware_interface/src/actuator.cpp
+++ b/hardware_interface/src/actuator.cpp
@@ -244,14 +244,6 @@ const rclcpp::Time & Actuator::get_last_write_time() const { return last_write_c
 
 return_type Actuator::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  std::unique_lock<std::recursive_mutex> lock(actuators_mutex_, std::try_to_lock);
-  if (!lock.owns_lock())
-  {
-    RCLCPP_DEBUG(
-      impl_->get_logger(), "Skipping read() call for actuator '%s' since it is locked",
-      impl_->get_name().c_str());
-    return return_type::OK;
-  }
   if (
     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
@@ -276,14 +268,6 @@ return_type Actuator::read(const rclcpp::Time & time, const rclcpp::Duration & p
 
 return_type Actuator::write(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  std::unique_lock<std::recursive_mutex> lock(actuators_mutex_, std::try_to_lock);
-  if (!lock.owns_lock())
-  {
-    RCLCPP_DEBUG(
-      impl_->get_logger(), "Skipping write() call for actuator '%s' since it is locked",
-      impl_->get_name().c_str());
-    return return_type::OK;
-  }
   if (
     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
@@ -306,4 +290,5 @@ return_type Actuator::write(const rclcpp::Time & time, const rclcpp::Duration &
   return result;
 }
 
+std::recursive_mutex & Actuator::get_mutex() { return actuators_mutex_; }
 }  // namespace hardware_interface
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index 29792714c1..0047f5947d 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -1788,6 +1788,14 @@ HardwareReadWriteStatus ResourceManager::read(
   {
     for (auto & component : components)
     {
+      std::unique_lock<std::recursive_mutex> lock(component.get_mutex(), std::try_to_lock);
+      if (!lock.owns_lock())
+      {
+        RCLCPP_DEBUG(
+          get_logger(), "Skipping read() call for the component '%s' since it is locked",
+          component.get_name().c_str());
+        continue;
+      }
       auto ret_val = return_type::OK;
       try
       {
@@ -1864,6 +1872,14 @@ HardwareReadWriteStatus ResourceManager::write(
   {
     for (auto & component : components)
     {
+      std::unique_lock<std::recursive_mutex> lock(component.get_mutex(), std::try_to_lock);
+      if (!lock.owns_lock())
+      {
+        RCLCPP_DEBUG(
+          get_logger(), "Skipping write() call for the component '%s' since it is locked",
+          component.get_name().c_str());
+        continue;
+      }
       auto ret_val = return_type::OK;
       try
       {
diff --git a/hardware_interface/src/sensor.cpp b/hardware_interface/src/sensor.cpp
index 285b7d28e3..161e29bc9c 100644
--- a/hardware_interface/src/sensor.cpp
+++ b/hardware_interface/src/sensor.cpp
@@ -219,14 +219,6 @@ const rclcpp::Time & Sensor::get_last_read_time() const { return last_read_cycle
 
 return_type Sensor::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  std::unique_lock<std::recursive_mutex> lock(sensors_mutex_, std::try_to_lock);
-  if (!lock.owns_lock())
-  {
-    RCLCPP_DEBUG(
-      impl_->get_logger(), "Skipping read() call for the sensor '%s' since it is locked",
-      impl_->get_name().c_str());
-    return return_type::OK;
-  }
   if (
     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
@@ -249,4 +241,5 @@ return_type Sensor::read(const rclcpp::Time & time, const rclcpp::Duration & per
   return result;
 }
 
+std::recursive_mutex & Sensor::get_mutex() { return sensors_mutex_; }
 }  // namespace hardware_interface
diff --git a/hardware_interface/src/system.cpp b/hardware_interface/src/system.cpp
index 75ae9454bc..d1912c1c69 100644
--- a/hardware_interface/src/system.cpp
+++ b/hardware_interface/src/system.cpp
@@ -240,14 +240,6 @@ const rclcpp::Time & System::get_last_write_time() const { return last_write_cyc
 
 return_type System::read(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  std::unique_lock<std::recursive_mutex> lock(system_mutex_, std::try_to_lock);
-  if (!lock.owns_lock())
-  {
-    RCLCPP_DEBUG(
-      impl_->get_logger(), "Skipping read() call for system '%s' since it is locked",
-      impl_->get_name().c_str());
-    return return_type::OK;
-  }
   if (
     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
@@ -272,14 +264,6 @@ return_type System::read(const rclcpp::Time & time, const rclcpp::Duration & per
 
 return_type System::write(const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  std::unique_lock<std::recursive_mutex> lock(system_mutex_, std::try_to_lock);
-  if (!lock.owns_lock())
-  {
-    RCLCPP_DEBUG(
-      impl_->get_logger(), "Skipping write() call for system '%s' since it is locked",
-      impl_->get_name().c_str());
-    return return_type::OK;
-  }
   if (
     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED ||
     impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED)
@@ -302,4 +286,5 @@ return_type System::write(const rclcpp::Time & time, const rclcpp::Duration & pe
   return result;
 }
 
+std::recursive_mutex & System::get_mutex() { return system_mutex_; }
 }  // namespace hardware_interface