To simplify the problem, I liken the problem to a ship approaching the shore and a device wants to collect the rope in such a way that the rope is neither stretched too much nor released to the extent that it falls into the water.
For this purpose, I thought that a motor with a ratchet should collect the rope at a high speed, but if the rope resists too much, the device should not put too much pressure on it. Because our device is not going to pull the ship to the shore! We just want to collect the rope.
The problem is apparently similar to the function of the clutch, but I am looking for a more geometric and mechanical solution because the main product is a very delicate device (not really for a ship but in a fine robotic system) and the implementation of the clutch function in these dimensions requires high technology in terms of materials and precision settings.