1. Control system for an exoskeleton haptic device, said exoskeleton haptic device having: a frame structure, configured to be coupled to the body of a subject; actuator means, carried by said frame structure and operable to cause movement of a number of joints of said body; and first sensor means, coupled to said body and configured to detect first signals (y o ) indicative of an intention of movement of said subject, characterized by comprising: a feedback stage, configured to control a position of said joints based on a reference position (θ ref ) and joint position and velocity measures (θ,{dot over (θ)}); a feedforward stage, configured to control a compliance presented by said exoskeleton haptic device to said subject based on the detected first signals (y o ); and combining means, configured to combine outputs from said feedback stage and feedforward stage in order to generate a driving signal (u m ) for said actuator means, thereby imposing a controlled position (θ) to said joints.