System to transfer people and/or cargo during offshore operations

The invention relates to a system comprising: a. a base with a stationary part and a moveable part that is rotatable relative to the stationary part about a first axis; b. a support arm having a first free end and a second free end opposite the first free end; c. a boom having a first free end and a second free end opposite the first free end; d. a load support element; e. a measurement system; f. an actuator system; and g. a control system, wherein the support arm is rotatable relative to the moveable part about a second axis, wherein the boom is rotatable relative to the support arm about a third axis, wherein the load support element is supported by the first free end of the boom and is configured to support the people and/or cargo during transfer, wherein the measurement system is configured to measure undesired relative movement of the load support element relative to a reference, wherein the actuator system is configured to rotate the moveable part using a first actuator assembly, to rotate the support arm using a second actuator assembly, and to rotate the boom using a third actuator assembly, wherein the control system is configured to drive the actuator system to compensate for the undesired relative movement, wherein the support arm comprises a counterweight, the boom comprises a counterweight, and the second and third actuator assemblies comprise electric drives.