The present invention concerns a device (2) for controlling a robotic system for assisting the mobility of a user, the robotic system comprising at least one active mobility assistance element (3) capable of assisting a given mobility action of the user, characterised in that the device (2) comprises a detection system capable of detecting a compensatory movement of the user (1) associated with the mobility action, the compensatory movement being a movement made by a user who is disabled, or able-bodied but locally and/or temporarily constrained, in order to perform at least part of the mobility action, and which at least partially substitutes the normal movement an unconstrained, able-bodied user would make in order to perform this mobility action, and a control system capable of controlling the at least one active element (3) when the compensatory movement is detected.