This thesis describes a control logic for a new exoskeleton model conceived by my supervisor Muscolo Giovanni Gerardo and on which a group of students, to which I belong, is studying. The idea was born from the need to help people with disabilities, such as ALS patients. ALS is a neurodegenerative disease that leads to a degeneration of motor neurons and causes total paralysis over time. At the moment there is no cure and the purpose of the exoskeleton is to give the patient the opportunity to move and to delay complete paralysis of the lower limbs. The proposed exoskeleton is a wheeled-robot and is designed to load the patient's weight and provide the necessary comforts.