Before revision:  A prototype was built and its performance measured with three motors in parallel configuration: two responsible for changing the VSAs neutral position and effective stiffness through a lever arm mechanism, and the third acting as variable damper.
After revision:  A prototype was built and its performance measured with three motors in parallel configuration: two responsible for changing the VSAs neutral position and effective stiffness through a sliding pivot point lever mechanism, and the third acting as variable damper.