I have read that some slave owners would drive nails into a barrel and put the slave to be punished into the barrel and roll them down a hill.
Thumbscrews were also used as a device to punish slaves. This device was also used in the medieval times as well as a form of punishment. This device was like a vice but it had sharp spikes inside of it. The thumb (or sometimes even a toe) was placed in the vice and the thumb would then be slowly crushed.
Punishment was not always physical but mental as well. For example, punished slaves would have a loved one such as a husband or wife, or child sent away never to be seen again as a form of punishment. Also, slaves were punished by whipping their children in place of them.