Abstract: 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 the user, and a method for controlling said device. Walking in the user can be enabled in predetermined modes of movement. The device has a part worn by the user including a motorized lower limb exoskeleton equipped with a control device, embodied in an on-board controller of the exoskeleton, and a non-worn part which includes an external computer for a specialized assistant and a system for determining the parameters of desired trajectories of movement of the exoskeleton in a Cartesian coordinate system. Control signals for exoskeleton actuators are generated taking into consideration the mass and inertial properties of body segments of the user and of elements of the exoskeleton, as well as requirements regarding the quality of control.