Method for moving an exoskeleton

A method for setting in motion a bipedal exoskeleton receiving a human operator and having a plurality of actuated degrees of freedom, each formed by a joint provided with an actuator, the method comprising the implementation, by a processor of the exoskeleton, of steps of:

• (a) obtaining a theoretical elementary trajectory of the exoskeleton corresponding to a step, the theoretical elementary trajectory defining an evolution of a theoretical position of the exoskeleton, the theoretical position being defined by a vector of theoretical values of a plurality of position parameters of the exoskeleton;
• (b) parameterizing said theoretical elementary trajectory as a function of a single parameter, so as to define the theoretical elementary trajectory of the exoskeleton as a virtual guide with a single degree of freedom;
• (c) in response to forced movements of the exoskeleton performed by the human operator, executing a controller deriving from an actual position of the exoskeleton, defined by a vector of actual values of the position parameters, a corresponding theoretical position of the exoskeleton along the virtual guide and determining a command for the actuators to apply a force to the exoskeleton simulating a spring-damper connection between the actual position of the exoskeleton and said corresponding theoretical position along the virtual guide, so as to implement an actual elementary trajectory in the vicinity of said theoretical elementary trajectory.