I think I would take a hard look at how the hydraulic system is done, and what it wrong with it, with the idea of staying hydraulic, just maybe changing what is wrong with the
current system.
I don’t think you need a counter weight with hydraulics, I think it an unnecessary complication, hydraulics can of course be amazingly strong and are the go to solution when tremendous strength is required, like a digging machine or humongous press etc.
Plus hydraulics can be extremely precise more so than mechanical systems, aircraft flight controls for instance
If one is too strong, that is easily managed with an adjustable pressure relief valve.