A system (10, 150, 200, 250, 350, 400, 500, 510, 870, 900) for supporting an arm (Ar) of a user, comprising: a harness configured to be worn on a body of a user; an arm support coupled to the harness configured to support an arm of the user, the arm support configured to accommodate movement of the arm while following the movement without substantially interfering with the movement of the user's arm; and one or more compensation elements coupled to the arm support to apply an offset force to at least partially offset a gravitational force acting on the arm as the user moves and the arm support follows the movement of the user's arm, wherein the arm support comprises: a first arm support segment pivotally coupled to the harness about a first vertical axis (Dav) such that the first arm support segment is rotatable substantially horizontally about the first vertical axis relative to the harness; and a second arm support segment pivotally coupled to the first arm support segment such that the second arm support segment is rotatable about a second axis (Dah) generally orthogonal to the first vertical axis, and wherein the one or more compensation elements comprise a resilient element (74, 415, 636) mounted on the second arm support segment, characterized in that: the one or more compensation elements provide a force profile that varies the offset force based on an orientation of the arm support, and wherein the force profile applies a greater force on the arm when the arm is in a raised position, and less force when the arm is in a lowered position. a harness configured to be worn on a body of a user; an arm support coupled to the harness configured to support an arm of the user, the arm support configured to accommodate movement of the arm while following the movement without substantially interfering with the movement of the user's arm; and one or more compensation elements coupled to the arm support to apply an offset force to at least partially offset a gravitational force acting on the arm as the user moves and the arm support follows the movement of the user's arm, wherein the arm support comprises: a first arm support segment pivotally coupled to the harness about a first vertical axis (Dav) such that the first arm support segment is rotatable substantially horizontally about the first vertical axis relative to the harness; and a second arm support segment pivotally coupled to the first arm support segment such that the second arm support segment is rotatable about a second axis (Dah) generally orthogonal to the first vertical axis, and wherein the one or more compensation elements comprise a resilient element (74, 415, 636) mounted on the second arm support segment, a first arm support segment pivotally coupled to the harness about a first vertical axis (Dav) such that the first arm support segment is rotatable substantially horizontally about the first vertical axis relative to the harness; and a second arm support segment pivotally coupled to the first arm support segment such that the second arm support segment is rotatable about a second axis (Dah) generally orthogonal to the first vertical axis, and wherein the one or more compensation elements comprise a resilient element (74, 415, 636) mounted on the second arm support segment, characterized in that: the one or more compensation elements provide a force profile that varies the offset force based on an orientation of the arm support, and wherein the force profile applies a greater force on the arm when the arm is in a raised position, and less force when the arm is in a lowered position. the one or more compensation elements provide a force profile that varies the offset force based on an orientation of the arm support, and wherein the force profile applies a greater force on the arm when the arm is in a raised position, and less force when the arm is in a lowered position.