Greaseweazle is a USB device that lets you read and write floppies in various formats from/to disk images on your modern PC.

From the Greaseweazle wiki:

Greaseweazle is a USB device and host tools allowing versatile floppy drive control. By extracting the raw flux transitions from a drive, any disk format can be captured and analysed: PC, Amiga, Amstrad, PDP-11, musical instruments, industrial equipment, and more. Greaseweazle also supports writing to floppy disks, from a range of image file formats including those commonly used for online preservation (ADF, IPF, DSK, IMG, HFE, ...).

The Greaseweazle wiki can be found here:
https://github.com/keirf/greaseweazle/wiki

Specifically to set up the 4.1 model:
https://github.com/keirf/Greaseweazle/wiki/V4.1-Setup

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