Systems and methods for supporting an arm of a user that include a harness configured to be worn by the user, an arm support coupled to the harness to support and follow movement of an arm of the user as the arm is raised and lowered； and compensation elements coupled to the arm support to apply an offset force to the arm support to at least partially offset a gravitational force acting on the arm as the arm is raised and lowered, the one or more compensation elements providing a force profile that varies the offset force based on an orientation of the arm support. The compensation elements may include a spring and a pivoting pulley coupled to the spring by a band, the pulley shaped to modify the offset force as the arm bracket is raised and lowered and the band causes the pulley to rotate.
