Method for determining the torque to be delivered by the motorised joints of a lower limb exoskeleton during walking of a subject with locomotor deficits

A method and a system are provided for determining the torque to be delivered by the motorized joints of a lower limb exoskeleton during a walk of a subject with locomotor deficits. The method provides for setting the torque to be delivered by the motorized joints based on various phases of the walk, a step being provided for determining a state of the walk moment by moment. The determination of the state of the walk is made by detecting the distance along the sagittal plane between the two feet of the patient, so as to identify three conditions, of which a right foot condition forward, an aligned foot condition and a left foot condition forward, the motorized joints being configured to detect the distance along the sagittal plane between the two feet of the subject