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 . <EOS>