The method for controlling a single- or multi- powered robotic system, such as an exoskeleton, a prosthesis or a collaborative robot, that is physically interacting with a user, said system comprising at least one actuated joint; wherein the robot joint(s) is/are controlled in force by a low level controller using an impedance control; wherein the joint(s) output force(s) is/are determined by a high level controller using a finite state control; and wherein the high level controller finite state control is governed by a voluntary motion from the user reaching a predetermined trigger.