A magnetic cycloid gear assembly includes an outer magnet drum comprising a plurality of outer drum magnets having a first number of magnetic pole pairs. The assembly also includes a first inner magnet drum comprising a first plurality of inner drum magnets having a second number of magnetic pole pairs. The assembly also includes a second inner magnet drum comprising a second plurality of inner drum magnets having a third number of magnetic pole pairs. Each of the first and second inner drums has an inner magnet drum axis that is offset from an outer magnet drum axis. The assembly further includes a plurality of drive mechanisms, each mechanism being operatively coupled to each of the first and second inner drums. The plurality of drive mechanisms is configured to drive each of the first and second inner magnet drums to revolve in an eccentric manner about the outer drum axis.