Non-powered weight compensation device

A weight compensation device comprising:

• a first link, a weight compensation module to which the first link is connected, and a second link connected to the weight compensation module rotatably around a first rotating shaft,
• wherein the weight compensation module includes:
• a first rotating member connected to the first rotating shaft of the second link, the first rotating member configured to rotate together with the first rotating shaft,
• a second rotating member configured to rotate around a second rotating shaft, the second rotating member connected to the first rotating member, and
• an actuator connected to the second rotating member, the actuator configured to be compressed by a rotation of the second rotating member in a direction,
• wherein when a user makes a joint movement from an initial pose, the second link, the first rotating member and the second rotating member rotate in a sequential order in said direction to compress the actuator, and
• wherein when the user returns to the initial pose, the second link rotates in an opposite direction, a compressive force acting on the actuator is removed, and the actuator is restored to an original state and pushes the second rotating member, making a rotational force of the second link stronger.