Abstract: An electrically-energized rotary actuator includes an annular stator ring having a plurality of slot-like magnetic flux obstructions spaced around the ring circumference. An associated rotor has two permanent magnets that are polarized along the rotor diameter to form a south pole at one point on the rotor periphery and a north pole on a diametrically-opposed point on the rotor periphery. Two pole pieces are located at diametrically spaced points on the stator ring, each pole piece having a magnetic winding so that, when the windings are energized, a north pole and a south pole will be established for interaction with the poles formed by the rotor magnets. The flux obstructions in the stator ring cause the rotor to be deflected in steps so that the rotor has various discrete positions centered on the flux obstructions. The rotor can maintain a stable position uninfluenced by minor variations in the current applied to the stator windings.