Whats the history?

I've had my helix since this past summer and I'm slowing making progress, sometimes it's a bit mind blowing. Crazy things happen, it's even crazier to know that these feelings are possible, the way your body responds. Sometimes I feel like I reach a different level of consciousness.

So I'm wondering, how was all of this discovered? Because I don't see something like this being discovered by accident - it's not that simple. And how did the creator of Aneros figure out the design? I'm sure there was plenty of trial and error.

I'm interested in knowing the history behind the Aneros, prostate massage, and super orgasms. Does anyone have knowledge they would care to share?