A method for setting desired trajectories of movement of an exoskeleton for enabling movement in a user with a musculoskeletal disorder, a device for assisting walking in a user and a method for controlling said device enable walking in predetermined modes of movement in a user with limited mobility or complete immobility of the lower limbs but normal functioning of the upper limbs and upper part of the body. The invention enables such users to move with a gait pattern similar to the gait pattern of a person without a musculoskeletal disorder, while also providing the user with the possibility of independently changing movement mode and gait parameters, such as stride length, step height and pace, using a control panel (32). The invention comprises a part worn by the user, which includes a motorized lower limb exoskeleton (1) equipped with a control device (35), embodied in an on-board controller (85) of the exoskeleton (1), and a non-worn part, which includes an external computer (86) for a specialized assistant and a system (43) for determining the parameters of desired trajectories of movement of the exoskeleton (1) in a Cartesian coordinate system. Control signals for the exoskeleton (1) actuators are generated taking into consideration the mass and inertial properties of body segments of the user and of elements of the exoskeleton (1), as well as requirements regarding the quality of control.Linvention porte sur un procédé pour déterminer les trajectoires désirés du mouvement dun exosquelette destiné au déplacement dun utilisateur présentant des troubles de lappareil locomoteur, un dispositif dassistance à la marche et un procédé de commande de ce dispositif ils permettent dassurer la possibilité de marche dans des modes prédéterminés pour les utilisateurs à mobilité réduite ou souffrant dune paraplégie des membres inférieurs alors que les membres supérieurs et la partie supérieur du corps fonctionnent normalement. Linvention permet dassurer la possibilité de
