A massage device comprising an output shaft, a plurality of permanent magnets arranged on the output shaft, and an electromagnetic driving module arranged radially outside the permanent magnets. The stator yoke of the electromagnetic driving module and the permanent magnets interact to generate a cogging torque. The electromagnetic driving module interacts with the permanent magnets to generate an electromagnetic driving force. The massage device has improvements in efficiency and output, is compact and reduces heat generation. The activation of the electromagnetic driving module actuates the output shaft to strike forward. The cogging torque applies a first pulling force to the output shaft to provide braking and buffering to the output shaft. When the output shaft is urged to move in the direction opposite to the strike forward direction from the idle state, the cogging torque applies a first thrust to the output shaft, to thereby increase the output.