A gravity compensation device partially or completely compensates a force exerted by a basic mass (10) on a balancing device (12) at a first distance from an axis of rotation (13) by using a force generating device, such as spring (14), exerting a counterforce on the balancing device at a second distance from the axis of rotation. The first distance, the second distance, or both are selectable for providing the desired gravity compensation. One or more pulleys with an angle-variable radius may be used. The gravity compensation device does not add substantial mass to the basic mass, and is simple in design.