A customizable force profile spring assembly, customizable to generate different force profiles as required, the assembly comprising: a first member restrained by a first restraint such that the first member can only move along a first functional axis; a cam mechanically coupled to the first member with a gear such that the movement of the first member along the first functional axis causes the cam to rotate; a second member restrained by a second restraint such that it can only move along a second functional axis; and mechanically attached to the cam such that the rotation of the cam causes the second member to move along the second functional axis; and a spring mechanically attached to the second member such that the spring is deflected when the second member moves along the second functional axis, applying force to the spring; wherein the spring comprising a counterbalance spring, and the customizable force profile spring assembly further comprises a cam housing; the cam housing comprises an axle; the first restraint comprises an internal rack arm guide pin; the first functional axis comprises extension and retraction; the gear is a circular gear comprising teeth and is configured to rotate about the axle; the first member further comprises: a rack arm; rack gear teeth; and a rack arm track associated with the internal rack arm guide pin to hold the rack gear teeth engaged with the circular gear teeth as the rack arm is extended or retracted with respect to the cam; the cam is attached to the circular gear and further comprises a curved cam groove having an inner end and an outer end, wherein the inner end is located radially closer to the axle than the outer end; and the second member further comprises: a spring arm comprising: a first end mechanically attached to the spring; a second end opposite the first end; and wherein the spring arm is mechanically attached to the cam with a follower pin at the second end located in the cam groove. a first member restrained by a first restraint such that the first member can only move along a first functional axis; a cam mechanically coupled to the first member with a gear such that the movement of the first member along the first functional axis causes the cam to rotate; a second member restrained by a second restraint such that it can only move along a second functional axis; and mechanically attached to the cam such that the rotation of the cam causes the second member to move along the second functional axis; and restrained by a second restraint such that it can only move along a second functional axis; and mechanically attached to the cam such that the rotation of the cam causes the second member to move along the second functional axis; and a spring mechanically attached to the second member such that the spring is deflected when the second member moves along the second functional axis, applying force to the spring; wherein the spring comprising a counterbalance spring, and the customizable force profile spring assembly further comprises a cam housing; the cam housing comprises an axle; the first restraint comprises an internal rack arm guide pin; the first functional axis comprises extension and retraction; the gear is a circular gear comprising teeth and is configured to rotate about the axle; the first member further comprises: a rack arm; rack gear teeth; and a rack arm track associated with the internal rack arm guide pin to hold the rack gear teeth engaged with the circular gear teeth as the rack arm is extended or retracted with respect to the cam; a rack arm; rack gear teeth; and a rack arm track associated with the internal rack arm guide pin to hold the rack gear teeth engaged with the circular gear teeth as the rack arm is extended or retracted with respect to the cam; the cam is attached to the circular gear and further comprises a curved cam groove having an inner end and an outer end, wherein the inner end is located radially closer to the axle than the outer end; and the second member further comprises: a spring arm comprising: a first end mechanically attached to the spring; a second end opposite the first end; and wherein the spring arm is mechanically attached to the cam with a follower pin at the second end located in the cam groove. a spring arm comprising: a first end mechanically attached to the spring; a second end opposite the first end; and a first end mechanically attached to the spring; a second end opposite the first end; and wherein the spring arm is mechanically attached to the cam with a follower pin at the second end located in the cam groove.