A method for moving an exoskeleton from a seated position to a standing position (and vice versa) in which none of the degrees of freedom of the exoskeleton is non-actuated. The method includes the implementation by a data processor of steps of: (a) generating a trajectory of the exoskeleton from the seated position to the standing position (and vice versa), the trajectory being parameterised as a function of time; (b) applying to the trajectory a set of virtual constraints on the actuated degrees of freedom, the virtual constraints being parameterised by a phase variable; and (c) running a controller of the exoskeleton associated with the set of virtual constraints such that the exoskeleton moves from the seated position to the standing position (and vice versa), the controller being capable of generating commands for the actuators so as to comply with the virtual constraints during the trajectory.