The present invention relates to a method for moving an exoskeleton (1) accommodating a human operator, from a seated position to a standing position (and vice versa), said seated and standing positions being such that said exoskeleton (1) has in said seated and standing positions a plurality of degrees of freedom each actuated by an actuator controlled by data processing means (11) in such a way that no degree of freedom is non-actuated, the method being characterised in that it comprises the implementation by the data processing means (11) of steps of:(a) Generating a trajectory of the exoskeleton (1) from said seated position to said standing position (and vice versa), said trajectory being parameterised as a function of time.(b) Applying to said trajectory a set of virtual constraints on said actuated degrees of freedom, the virtual constraints being parameterised by a phase variable,(c) Running a controller of said exoskeleton (1) associated with said set of virtual constraints such that the exoskeleton (1) moves from the seated position to the standing position (and vice versa), said controller being capable of generating commands for said actuators so as to comply with said virtual constraints during said trajectory.
