A self-reeling belt drive mechanism comprising: a capstan configured to draw a belt from, or pay out the belt to a belt actuated system; an idler shaft coupled to the capstan via the belt, wherein the idler shaft is configured to rotate in a drawing direction when the capstan rotates in a direction to draw the belt, and wherein the idler shaft is configured to rotate in a pay-out direction when the capstan rotates in a direction to pay out the belt, the idler shaft comprising: a first end configured to accept one or more turns of the belt; characterized in that the self-reeling belt drive mechanism further comprises: a second end coupled to a first one-way locking bearing: a first gear connected to the first one-way locking bearing, wherein the first one-way locking bearing engages when the idler shaft rotates in the drawing direction, causing the first gear to rotate with the rotating idler shaft, and wherein the one-way locking bearing disengages when the idler shaft rotates in the pay-out direction, permitting relative rotation between the first gear and the idler shaft; and a spool configured to receive or pay out a portion of the belt, the spool comprising: an outer hub configured to rotate and wind or unwind the portion of the belt around a periphery of the outer hub; and a second gear frictionally engaged with the outer hub, wherein the second gear is configured to be driven by the first gear such that the first gear drives the second gear, causing the outer hub to rotate in a direction to wind the portion of the belt when the idler shaft rotates in the drawing direction. a capstan configured to draw a belt from, or pay out the belt to a belt actuated system; an idler shaft coupled to the capstan via the belt, wherein the idler shaft is configured to rotate in a drawing direction when the capstan rotates in a direction to draw the belt, and wherein the idler shaft is configured to rotate in a pay-out direction when the capstan rotates in a direction to pay out the belt, the idler shaft comprising: a first end configured to accept one or more turns of the belt; characterized in that the self-reeling belt drive mechanism further comprises: a second end coupled to a first one-way locking bearing: a first gear connected to the first one-way locking bearing, wherein the first one-way locking bearing engages when the idler shaft rotates in the drawing direction, causing the first gear to rotate with the rotating idler shaft, and wherein the one-way locking bearing disengages when the idler shaft rotates in the pay-out direction, permitting relative rotation between the first gear and the idler shaft; and a first end configured to accept one or more turns of the belt; characterized in that the self-reeling belt drive mechanism further comprises: a second end coupled to a first one-way locking bearing: a first gear connected to the first one-way locking bearing, wherein the first one-way locking bearing engages when the idler shaft rotates in the drawing direction, causing the first gear to rotate with the rotating idler shaft, and wherein the one-way locking bearing disengages when the idler shaft rotates in the pay-out direction, permitting relative rotation between the first gear and the idler shaft; and a spool configured to receive or pay out a portion of the belt, the spool comprising: an outer hub configured to rotate and wind or unwind the portion of the belt around a periphery of the outer hub; and a second gear frictionally engaged with the outer hub, wherein the second gear is configured to be driven by the first gear such that the first gear drives the second gear, causing the outer hub to rotate in a direction to wind the portion of the belt when the idler shaft rotates in the drawing direction. an outer hub configured to rotate and wind or unwind the portion of the belt around a periphery of the outer hub; and a second gear frictionally engaged with the outer hub, wherein the second gear is configured to be driven by the first gear such that the first gear drives the second gear, causing the outer hub to rotate in a direction to wind the portion of the belt when the idler shaft rotates in the drawing direction.