An actuator module, comprising: a baseplate extending in a plane; a voice coil connected to the baseplate, the voice coil defining a coil axis perpendicular to the plane; a magnet assembly (206, 208, 210) comprising a first side facing the baseplate, a second side facing away from the baseplate, a first pair of sidewalls on opposing sides of the magnet assembly, and a second pair of sidewalls on opposing sides of the magnet assembly and adjacent to the first pair of sidewalls, the magnet assembly defining an air gap; a rigid frame attached to the baseplate, the rigid frame comprising four stubs (204e-204h) each facing a corresponding one of the sidewalls; and a pair of springs (202a, 202b) suspending the magnet assembly relative to the frame and the baseplate so that the voice coil extends into the air gap, the pair of springs comprising a first spring shaped as a loop defining a first aperture sized to accommodate motion of the magnet assembly along a direction of the coil axis, the first spring being attached to the frame at a first pair of the four stubs respectively facing the first pair of sidewalls and attached to the magnet assembly at the second pair of sidewalls of the magnet assembly on the second side of the magnet assembly, the pair of springs comprising a second spring shaped as a loop defining a second aperture sized to accommodate motion of the magnet assembly along the direction of the coil axis, the second spring being attached to the frame at a second pair of the four stubs respectively facing the second pair of sidewalls and attached to the magnet assembly at the first pair of sidewalls of the magnet assembly on the first side of the magnet assembly; wherein the first spring comprises a pair of first segments on a first pair of opposing sides of the first aperture, and a pair of second segments on a second pair of opposing sides of the first aperture; wherein the second spring comprises a pair of first segments on a first pair of opposing sides of the second aperture, and a pair of second segments on a second pair of opposing sides of the second aperture; and wherein each of the first and second springs is attached to the frame at a midpoint of the pair of first segments. a baseplate extending in a plane; a voice coil connected to the baseplate, the voice coil defining a coil axis perpendicular to the plane; a magnet assembly (206, 208, 210) comprising a first side facing the baseplate, a second side facing away from the baseplate, a first pair of sidewalls on opposing sides of the magnet assembly, and a second pair of sidewalls on opposing sides of the magnet assembly and adjacent to the first pair of sidewalls, the magnet assembly defining an air gap; a rigid frame attached to the baseplate, the rigid frame comprising four stubs (204e-204h) each facing a corresponding one of the sidewalls; and a pair of springs (202a, 202b) suspending the magnet assembly relative to the frame and the baseplate so that the voice coil extends into the air gap, the pair of springs comprising a first spring shaped as a loop defining a first aperture sized to accommodate motion of the magnet assembly along a direction of the coil axis, the first spring being attached to the frame at a first pair of the four stubs respectively facing the first pair of sidewalls and attached to the magnet assembly at the second pair of sidewalls of the magnet assembly on the second side of the magnet assembly, the pair of springs comprising a second spring shaped as a loop defining a second aperture sized to accommodate motion of the magnet assembly along the direction of the coil axis, the second spring being attached to the frame at a second pair of the four stubs respectively facing the second pair of sidewalls and attached to the magnet assembly at the first pair of sidewalls of the magnet assembly on the first side of the magnet assembly; wherein the first spring comprises a pair of first segments on a first pair of opposing sides of the first aperture, and a pair of second segments on a second pair of opposing sides of the first aperture; wherein the second spring comprises a pair of first segments on a first pair of opposing sides of the second aperture, and a pair of second segments on a second pair of opposing sides of the second aperture; and wherein each of the first and second springs is attached to the frame at a midpoint of the pair of first segments.