I remember @Rodread post something based on cuttlefish few months back. Happened across this. Didn’t know if anyone was aware. I wonder where AWEs version is? But loving the idea. I’m surprised they didn’t use eccentrics or a ratchets mech. With a planetary gear set. Especially in mind of magnetic gearing and low friction joints. I’m sure they will have there reasons. why they did what they did?
Enjoy.