A load-bearing apparatus (100) comprises a winch apparatus (110), and a load-bearing spoolable medium (120) for connecting to a load, the load-bearing spoolable medium comprising a plurality of load-bearing elements (121-123); wherein at least a portion of the load-bearing spoolable medium is spooled about the winch apparatus. The provision of multiple load-bearing elements may help reduce the diameter appropriate for the winch apparatus, while maintaining the necessary load bearing capacity for supporting, paying in and/or paying out the load. The load-bearing apparatus may comprise a tension control apparatus (151-153) for controlling, applying and/or adjusting the tension of the load-bearing spoolable medium.

A cable winch having a receiving unit for accommodating a cable drum that includes a cable wound about an axis of the cable drum. The receiving unit includes a quick mounting mechanism for attaching the cable drum in a manually detachable manner to the cable winch.

A cable-driven device, such as a joint or instrument of a computer-assisted manipulator system, may comprise a capstan mechanism to wind/unwind cables. The capstan mechanism comprises a capstan that has a groove in an outer surface of the capstan to guide the cables, which are routed from a take-up pulley, to spool onto the capstan as the capstan rotates. A guide element is engaged with the groove. The guide element is held translationally stationary relative to the take-up pulley, while there is relative translation between the capstan and both the guide element and the take-up pulley. Thus, as the capstan rotates, the guide element engages with the groove and forces the capstan and the take-up pulley to translate relative to one another. This relative translation of the capstan and the take-up pulley may prevent deviation of a take-up angle of the cable as the cable spools onto the capstan.

A cable winch having a receiving unit for accommodating a cable drum that includes a cable wound about an axis of the cable drum. The receiving unit includes a quick mounting mechanism for attaching the cable drum in a manually detachable manner to the cable winch.