In this work, we demonstrate how proprioceptive actuators using brushless DC motors can effectively emulate musculoskeletal dynamics. Using a simplified muscle model, we calculate muscle forces in real-time and then generate equivalent joint motor torques for an arbitrary number and arrangement of muscles. We validate our approach by comparing a single motor-driven physical pendulum to a simulated model, demonstrating that the motors can replicate muscle-like behavior, including variable stiffness and damping. These results suggest that proprioceptive actuators can act as artificial muscles and provide a realistic platform to study neuromechanical control.