Does multi-platter hard-drive use all of their heads to read simultaneously?

Suppose we have a harddisk with 2 platters with characteristics below:

Rotational rate: 10, 000 RPM
Avg sectors/track: 1000
Surfaces: 4
Sector size: 512 bytes

I was reading "Computer Systems: A Programmer's Perspective 2ed" when I found that it calculates transfer time as if it only uses ONE head to read a sector.
If that's the case, why not use 4 heads to write(read) on 4 surfaces? So when I write a 2K bytes file, each head should only need to wait for the platters to rotate just one sector length instead of 4, thus reducing the transfer time by a factor of 4.
Or even redesign sector to make each sector on one cylinder but on 4 tracks residing same position respectively on 4 surfaces. Each one of (512/4) bytes. So when the hd needs to read a sector of 512 bytes, we only need the disk to rotate roughly 1/4 compare to original time.
The idea looks like RAID 0.

Solution 1:

To read or write all heads at once would require duplicating all the circuitry involved - head amplifiers, bitstream decoders, even the microprocessors and cache memory. I don't know how disks are actually designed, but it seems unlikely to me, especially given the price pressures in the industry. Besides, even the stream from a single platter is likely to be near the interface limit - it's the seeking and rotational delays that kill you.

Solution 2:

I think that's already how it works :

Cylinders

A cylinder comprises the same track number on each platter, spanning all such tracks across each platter surface that is able to store data (without regard to whether or not the track is "bad"). Thus, it is a three-dimensional structure. Any track comprising part of a specific cylinder can be written to and read from while the actuator assembly remains stationary, and one way in which hard drive manufacturers have increased drive access speed has been by increasing the number of platters which can be read at the same time.

https://en.wikipedia.org/wiki/Cylinder-head-sector#Cylinders

EDIT

this quote from Wikipedia don't say it all, the guys from pcguide.com clearly say :

Only one head can read from or write to the hard disk at a given time. Special circuitry is used to control which head is active at any given time.

so this is for the low/middle-end HDD, BUT I came across few OLD discussions here and here where they are referring to the technique you are describing as "internal RAID" and I actually don't know enough about today's HDD technology.

Solution 3:

In the Olden Days when hard drives used stepper motors, they could read all the platters at the same time.

But that hasn't been the case for a long time. Finding the right track is a matter of playing hotter/colder hide and seek with voice coils. That can't be done on all platters at the same time. Tracks are too small to be precisely in the same position on all platters so they have to seek individually.