14 degrees of freedom servo arm with capstan power assist

Inspired in large part by this: 14 micro servos pull on cables (dyneema fishing line) Cables wrap around capstan for power assist. Cables go through PTFE tube to their respective articulated joints. Joints nearest the tip move easily because they are lightly loaded. Joints toward the root are under very high strain and move with difficulty. For high-stress joints, PTFE tubes appear not to be stiff enough and tend to buckle. Capstan also gets hot rather quickly. I dare not run it for too long or it could fail, and depending how it fails, it could be bad. More details here: :3104774 I think this may be as far as I take this project, or at least this version of it. I still like the capstan power assist idea and I have ideas for improving the efficiency. I still think Bowden cables are a good complement for capstan power-assisted cable drives, but for moderate to high forces the housings must be made for purpose, like bicycle brak