The present invention relates to a method for moving an exoskeleton (1) receiving a human operator, said exoskeleton (1) having a plurality of degrees of freedom including at least one degree of freedom actuated and at least one degree of freedom not actuated, the method being characterized in that it comprises the implementation of steps of: (a) When a start request is received, generating and issuing a command to at least one of said actuators so as to place the exoskeleton (1) in a tilting state； (b) in a database stored in data storage means (12) of triplets of: - a set of virtual constraints on said activated degrees of freedom, - a controller of said exoskeleton (1) capable of generating commands from said actuators so as to respect said virtual constraints by implementing at least one attractive trajectories, - a stability pool formed by the set of points from which the execution of said controller allows a convergence towards said attracting stable trajectory； identifying a set of virtual constraints such that said failover state is included in said stability pool associated with this set of virtual constraints； (c) executing the controller associated with the set of virtual constraints identified so that the exoskeleton (1) works. La présente invention concerne un procédé de mise en mouvement d'un exosquelette (1) recevant un opérateur humain, ledit exosquelette (1) présentant une pluralité de degrés de liberté dont au moins un degré de liberté actionné et au moins un degré de liberté non actionné, le procédé étant caractérisé en ce qu'il comprend la mise en œuvre d'étapes de : (a) Lorsqu'une requête de démarrage est reçue, génération et émission d'une commande à au moins un desdits actionneurs de sorte à placer l'exosquelette (1) dans un état de basculement ； (b) dans une base de données stockée dans des moyens de stockage de données (12) de triplets de : - un jeu de contraintes virtuelles sur lesdits degrés de liberté a
