Cable means under {TAIL ~ tension} within the arms and about {HEAD ~ the joint members} maintain the position of the head end in a given position and counterbalance the arms 
Cable means under { TAIL ~ tension } within the arms and about { HEAD ~ the joint members } maintain the position of the head end in a given position and counterbalance the arms
OTH OTH OTH TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH