Method for moving an exoskeleton

A method for setting in motion a biped exoskeleton receiving a human operator, the method comprising the implementation, by a data processor of the exoskeleton, of steps of:

• (a) obtaining a theoretical elementary trajectory of the exoskeleton;
• (b) executing a control loop defining an evolution of an actual position of the exoskeleton so as to implement an actual elementary trajectory similar to said theoretical elementary trajectory, comprising at each iteration of the control loop:
• estimation of a current state of the exoskeleton as a function of said actual position;
• determination of a wrench to be applied to the exoskeleton at a next iteration of the control loop to compensate for a deviation between said estimated current state of the exoskeleton and an expected state of the exoskeleton in accordance with said theoretical elementary trajectory;
• the determination of the wrench and/or application of the wrench to the exoskeleton taking into account a flexibility model of the exoskeleton compared to a rigid robot.