Abstract: An improved double capstan drive allows mechanical amplification for increased power output from stepper motors, servo motors, and other control devices. Tensile members are attached to loads, wrapped around two continuously driven capstan drums, and attach to the stepper motors. The stepper motors, when energized, supply tailing forces to the tensile members which then engage frictionally on the capstan drums. Amplification of forces is achieved. Each wrap provides for slightly less than 2 times amplification of the tailing force with no upper limit to the number of wraps. Elastic bands attach to each wrap of the tensile members approximately midway between the two drums to provide for immediate and responsive release when stepper motors deenergize or reverse direction. Grooves or rings on the periphery of the drums provide tracks for wrapping the tensile member.