The NSX featured EPS in 1990. The system has been significantly reduced in size over the years.
The article from 1997 provides some background on Hondas system.
http://world.honda.com/news/1997/t970702c.html
EPS featured on the Insight and many other Honda models worldwide.
Another more recent article here on development with Showa
http://www.etmachinist.com/march_06/SteeringSystems.htm
You may want to download the Jazz technical manual to answer your linkage and other questions.
And for your vtec question
http://asia.vtec.net/Series/FitJazz/lseries/index.html
And yes 3,500rpm but carefully note the specific implimentation of vtec described. It ain't no i-vetc.