The purpose of this job is to develop a LQR (Linear Quadratic Regulator) optimal control strategy for the movement of anexoskeleton for walking. The objective of the exoskeleton is to assist the walk of an individual with motor disability. Thiswork models multi-body dynamic of the individual-exoskeleton system. The simulation of the walk includes two phases ofoperation: simple support and double support. The linearization of the model is performed around points of equilibrium ofeach phase of operation in which the controller is optimized. The LQR optimized controller allows minimizing the torqueand tracking error guaranteeing the system’s stability throughout all the trajectory of the walk. It assesses tracking of trajectories,rejection of disturbances and variation of parameters in the system. The results allow concluding that the controlleris robust to perturbations in the system input.