Aaed Musa - Capstan actuators (and a BUNCH of very practically accessible engineering info - a real masterpiece of edutainment)

This is a killer reference source and entry point for many applications and projects.

Capstan actuators = rope twisted around two drums for gear reduction, but with limited range of motion.

https://www.youtube.com/watch?v=MwIBTbumd1Q

https://github.com/aaedmusa/Capstan-Drive