Micro-stepping controller chips. Before that, the precision available without gearing and feedback wasn't sufficient. There were systems but they were order of magnitude more complicated and several orders more expensive.
How do you reconcile that claim with the existence of cheap consumer paper printers and hard drives?
hard drives use voice coils, a completely different technology. The circuitry that does that evolved and certainly influenced the creation of microstepper controllers: the neat trick they do is treat the stepper motor as a voice coil in between full steps.