The MiAssiSt is a DIY, wheelchair-mountable assistive device to support users with reduced upper limb muscle strength in various ADLs such as eating, drinking or using computers. It consists of a passive counterweight and an active add-on. The adjustable counterweight passively compensates for the weight of the lower arm and enables the user to use his own remaining muscle strength as often as possible. If needed, the active add-on provides additional support for lifting heavier objects such as a full glass of water. The add-on is controlled by the index finger of the unsupported arm.