The invention relates to a method and a device (1) for compensating the weight (G) acting on a manipulator (2), wherein a variable counterforce (F) is generated, wherein the counterforce (F) generated is applied to the manipulator (2) by means of a supporting kinematic system (12) that contacts the manipulator in a force application region (22), and wherein a value of the counterforce (F) corresponds at least substantially to a value of the weight (G) acting on the force application region on account of acceleration due to gravity, and the counterforce (F) is directed at least substantially parallel and in the opposite direction to the acceleration due to gravity. The invention also relates to a system comprising a device (1) and a manipulator (2).