The invention concerns a so-called capstan winch (1) comprising drums (2, 3) driving a cable (C) and provided with a peripheral wall (22, 32) around which are strung independent peripheral rings (40 45, 50 55). Said rings are provided with a peripheral groove designed to receive the cable (C) and are made of an elastic material so as to allow both the cable (C) to be driven and a relative sliding movement between the peripheral rings (40 45, 50 55) and the peripheral wall (22, 32), the relative sliding movement being of amplitude substantially equal to longitudinal deformation of the cable (C), when it is subjected to tension stresses. The two drums (2, 3) can be axially offset relative to each other (p/2) and their axes of rotation (.DELTA..sub.1, .DELTA..sub.2), may form a non-null angle of inclination. The invention is particular applicable to deep sea oil exploration.