Abstract: A power transmission drive includes a force amplifier configured to increase power output of at least one motor. The force amplifier includes a first pulley set and a second pulley set, each pulley set including at least one floating pulley and at least one fixed pulley. The first pulley set and the second pulley set are coupled to one or more motors by a corresponding force amplification fiber in tension. Actuation of the one or more motors actuate the first pulley set and the second pulley set. The first pulley set and the second pulley set transmit the force applied by the one or more motors to an output component.