Lifting device for use at a manual work station, which lifting device comprises: - a framework; - an elongate manipulator arm pivotally connected to the framework by a first joint, which elongate manipulator arm comprises a first end portion and a second end portion located on opposite sides of the first joint as seen in the longitudinal direction of the manipulator arm, wherein the second end portion is adapted to carry at least one tool; - a balancing arrangement (7; 30, 39) comprising a first part (7a; 30a; 39a) connected to the framework, so that said framework connects the first part (7a; 30; 39a) of the balancing arrangement (7; 30, 39) and the first joint, and a second part (7b; 30b; 39b connected to the first end portion of the manipulator arm; - wherein the balancing arrangement (7; 30; 39) comprises a first balancing device (11; 31; 34), which first balancing device (11; 31; 34) is extendable to ensure that the interaction between the second part (7b; 30b; 39b) of the balancing arrangement (7; 30; 39) and the first end portion of the manipulator arm is maintained when the manipulator arm is rotated about the first joint, and which first balancing device (11; 31; 34) is adapted to generate a first balancing force which, through the interaction between the first end portion of the manipulator arm and the second part (7b; 30b; 39b) of the balancing arrangement (7; 30; 39), maintains a moment balance about the first joint with respect to the gravitational force acting on the manipulator arm; characterized in that - the first joint provides the manipulator arm with at least two rotational degrees of freedom relative to the framework at the first joint in a first spherical coordinate system which has a centre point that coincides with the rotational centre of the first joint. - a framework; - an elongate manipulator arm pivotally connected to the framework by a first joint, which elongate manipulator arm comprises a first end portion and a second end portion located on opposite sides of the first joint as seen in the longitudinal direction of the manipulator arm, wherein the second end portion is adapted to carry at least one tool; - a balancing arrangement (7; 30, 39) comprising a first part (7a; 30a; 39a) connected to the framework, so that said framework connects the first part (7a; 30; 39a) of the balancing arrangement (7; 30, 39) and the first joint, and a second part (7b; 30b; 39b connected to the first end portion of the manipulator arm; - wherein the balancing arrangement (7; 30; 39) comprises a first balancing device (11; 31; 34), which first balancing device (11; 31; 34) is extendable to ensure that the interaction between the second part (7b; 30b; 39b) of the balancing arrangement (7; 30; 39) and the first end portion of the manipulator arm is maintained when the manipulator arm is rotated about the first joint, and which first balancing device (11; 31; 34) is adapted to generate a first balancing force which, through the interaction between the first end portion of the manipulator arm and the second part (7b; 30b; 39b) of the balancing arrangement (7; 30; 39), maintains a moment balance about the first joint with respect to the gravitational force acting on the manipulator arm; characterized in that - the first joint provides the manipulator arm with at least two rotational degrees of freedom relative to the framework at the first joint in a first spherical coordinate system which has a centre point that coincides with the rotational centre of the first joint. - the first joint provides the manipulator arm with at least two rotational degrees of freedom relative to the framework at the first joint in a first spherical coordinate system which has a centre point that coincides with the rotational centre of the first joint.