Quadruped Paw Shoulder with MG90S servos

[oracid]

Here is a shoulder study for a quadruped.
Here I used 2 MG90S servos. The volume of the mechanism is very compact and its weight is around 40g. I have to say that I am quite happy with the result.
As can be seen in the video, the shoulder can lift around 250g. To be tested therefore with a 1kg quadruped.
 
The mechanism looks like a 5 bar, but it is not. It allows the coupling of 2 servos without worrying about the alignment of the axes of the servos, the position of the axis of rotation and the position of the axis of the mechanical coupling with the leg.
This seemed essential to me because of the alignment problems of the servos with the Lego mechanics.
 
I would be very surprised if my mechanism was original, there are so many of them, but I would like to know what mechanism it is.