A linear driving device with load dependent clamping capability with a reference driving element and a moveable driving element. The linear driving device being arranged for driving an elongated element located between the reference driving element and the moveable driving element at least one of which is powered to apply an axial force (Fa) and a clamping force (Fc) to the elongated element to drive it. The device includes at least one pivoting lever attached to the reference driving element by a first rotation axis and to the moveable driving element by a second rotation axis. When the elongated element is driven, the at least one pivoting lever is arranged so that the magnitude of the clamping force (Fc) depends on a predetermined angle (a) defined between a perpendicular direction to the axial force (Fa) and a reaction force passing through the first and second rotations axes.