Rotary actuator

A rotary actuator comprising:

• a reference structure;
• an output member arranged for rotary movement relative to said reference structure about an axis;
• a first linear motor having a first member and a second member, said first linear motor configured and arranged to selectively apply an output force urging said first member and said second member apart along a generally linear direction;
• said first linear motor first member coupled to said reference structure;
• said first linear motor second member coupled to said output member and configured and arranged to cause a torque between said output member and said reference structure in a first direction about said axis when said first linear motor applies said output force;
• a second linear motor having a first member and a second member, said second linear motor configured and arranged to selectively apply an output force urging said second linear motor first member and said second linear motor second member apart along a generally linear direction;
• said second linear motor first member coupled to said reference structure;
• and
• said second linear motor second member coupled to said output member and configured and arranged to cause a torque between said output member and said reference structure in a direction about said axis opposite said first direction when said second linear motor output force is applied.