Signing a PDF document with our RadPdfProcessing api requires a System.Security.Cryptography.X509Certificates.X509Certificate2 certificate. We have an example demonstrating how to digitally sign a PDF in our QSF examples for WPF: https://demos.telerik.com/wpf/ under PdfProcessing -> Digitally Sign Document. In Example.xaml.cs you can see how we use a certificate stream from a file to create a X509Certificate2 and sign the document.
Similarly, you could detect and extract a X509Certificate2 certificate from a smart card. I've found this forum discussing how to achieve that which you might find helpful: https://stackoverflow.com/questions/22236116/find-certificate-on-smartcard-currently-on-reader.