An apparatus for actuating an end-member is disclosed. The apparatus includes a housing, a spring within the housing, and a spring plate forming a restriction for the spring within the housing. A brake member is associated with the spring plate for retaining the spring plate in one or more positions. A drive rod is associated with a motor to enable a first movement of the drive rod and to enable a second movement of spring plate. The first movement or the second movement enables the actuating of the end-member in one or more different positions for the end-member. The brake member may be engaged or disengaged to control or decouple spring compression forces in the actuator when the spring is compressed.