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Pulley thrust control, changes in the trajectory of the belt as it winds around the pulleys, and the amount of friction transmission were focused on in order to reduce transmission loss and increase the transmission efficiency of CVT. In the case of pulley thrust control, making use of the linear relationship between the rotary speed fluctuation transfer characteristic and the torque transmission capacity between the pulleys and the belt, it was possible to reduce the excess safety factor of the torque transmission volume. Due to pulley tilt, the trajectory of the belt displays deviations with the theoretical geometrical winding radius. The structure of the pulleys was modified in order to reduce this deviation and increase transmission efficiency. Optimization of the additives in the CVT fluid increased the coefficient of friction, decreasing pulley thrust and increasing transmission efficiency.