WE CLAIM:
1. A method of assisting at least one movement of a user
by means of a robotic device (1), the robotic device
operating without the user wearing directly any sensor,
such as a biometric sensor, and without any
user/environment interface for the user to identify a
level of assistance that is to be provided, the method
enabling the robotic device to be caused to operate in at
least the following two modes:
• default mode: force servocontrol of the robotic
device via a computer (4) of the robotic device; and
• measurement mode: path servocontrol of the robotic
device, via the computer, with the computer storing at
least one force exerted on the robotic device by an
environment external to said robotic device;
the method being defined:
• during recognition by the computer of a movement
performed by the robotic device, as already learnt and
stored by the computer, to switch from default mode to
measurement mode in order to store at least one force
exerted on the robotic device by an environment external
to the robotic device; and then
• to return to default mode while making use of said
stored force to perform the force servocontrol in said
default mode.
2. A method according to claim 1, wherein the computer (4) performs automatic learning of at least one movement carried out by the robotic device.
3. A method according to claim 2, wherein the automatic learning is performed during default mode.
4. A method according to claim 2 or claim 3, wherein the automatic learning is performed during a dedicated preliminary stage.

5. A method according to any preceding claim, wherein the path servocontrol is servocontrol via a succession of positions.
6. A method according to any one of claims 1 to 4, wherein the path servocontrol is velocity servocontrol.
7. A method according to any preceding claim, wherein the robotic device is an exoskeleton.
8. A robotic device (1) comprising a computer (4) configured to provide force servocontrol of the robotic device, the computer being arranged, during recognition of a movement carried out by the robotic device as already learnt and stored by the computer, to provide the robotic device with path servocontrol while storing at least one force exerted by an external environment on the robotic device so that, on returning to force servocontrol, it can make use of the stored force(s) to perform force servocontrol, the robotic device operating without the user wearing directly any sensor, such as a biometric sensor, and without any user/environment interface for the user to identify a level of assistance that is to be provided.