An electromechanical limited rotation rotary actuator comprises a stator having an aperture extending axially therein and at least two teeth having arcuate end portions forming an aperture. A rotor includes a diametral magnetized magnet bidirectionally operable with the stator and extending into the aperture. A non-uniform gap is formed between the magnet and the end portions of the teeth, and wherein the shape of the gap provides a restoration torque resulting in a spring-like return-to-center action of the rotor. An electrical coil extends around at least a portion of one tooth and is excitable for magnetizing the tooth and providing bidirectional torque to the rotor.