For the movement of the two axis, I have used some geared-motors from 120W   24V dc  gear 1/60.

They have the advantage of few bulky, light and  silent.   Very good if you compared to : Hydraulic or Pneumatic system .

To the geared-motors I have attacked a pulley to two throats, on which I have wrapped the steel thread.

WARNING

Don't power up the motor before to fix it to the mobile system. It is dangerous for the hands. 

It is the easiest and inexpensive system to realize.

WARNING

To protect the fingers from the "support and grib" during the movement, needs to build the following protection.