Abstract: New joint compensator and systems and methods of their use have been invented which, in one aspect are useful for compensating for the weight of a first joint and at least one subsequent joint, the first joint to be supported above the at least one subsequent joint, the joint compensator in one aspect having a body interconnectible between the first joint and moving apparatus, the body including supporting apparatus for supporting the first joint above the at least one subsequent joints and for providing support of the first joint as it moves with respect to the at least one subsequent joint, the supporting apparatus compensating for weight of the first joint as it moves, the support apparatus for alternately supporting the first joint and then the at least one subsequent joint, the support apparatus initially adjustable to compensate for the weight of the first joint so that the support apparatus is also thereby adjusted to compensate for weight of the at least one subsequent joint.