Method and device for torque generation based on electromagnetic effect

A torque generation device, comprising:

• an armature winding configured to receive an input torque;
• a shell comprising a magnetic cylinder and configured to deliver an output torque to an underactuated system disposed outside the torque generation device;
• and
• a magnet set comprising a plurality of blocks of permanent magnets and disposed on an inner side of the shell,
• wherein:
• the plurality of blocks of permanent magnets are symmetrically fixed and distributed on the inner side of the shell and are in fixed connection so as to form an approximately constant magnetic field,
• the armature winding is disposed coaxially in the shell with an air gap between the shell and the magnet set,
• the armature winding is driven by the input torque to rotate in the approximately constant magnetic field in response to the armature winding receiving the input torque, and
• the output torque is generated by an electromagnetic effect between the approximately constant magnetic field and the armature winding, the electromagnetic effect causing the shell to rotate and thereby deliver the output torque.