A method of assisting at least one movement of a user by means of a robotic device, 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 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 the robotic device in order to perform the force servocontrol of the default mode.