1. A method for controlling an actuator ( 1 ) of an articulated segment ( 5 ) comprising the steps for: Estimating an inertia J of the segment and a minimum articulation viscous friction f; Estimating or measuring a speed of movement of the segment and an internal deformation ΔX of the actuator; Synthesizing a control law of the H ∞ type generating a control torque based on these estimations or measurements and meeting a performance objective relating to a transfer function G ( s ) = X _ F between an acceleration of the segment and an external force F applied to the segment: ∥G(s)W s (s)∥ ∞ ≦1 with W s ( s ) = ( s + ɛ J s + f ) - 1 , ε being a mathematical artifact and s the Laplace variable; Controlling the actuator of the articulated segment according to the control law thus synthesized.