A robotic device for generating forces assisting or resisting the movement of the human body, said robotic device comprising: - a frame having a fixed point and an articulation point, integral to said frame, said fixed point arranged at a predetermined distance (a 1) from said articulation point; - a proximal arm, pivotally connected to said frame at said articulation point, said proximal arm having a loading point (O') arranged at a predetermined distance (l 1) from said articulation point along a proximal axis, said proximal axis having a predetermined direction (x) and arranged to rotate by a first rotation of a predetermined amplitude (θ 1), said first rotation of a predetermined amplitude (θ 1) lying in a plane (π) containing said fixed point and said proximal axis, wherein said first predetermined amplitude (θ 1) is zero when said predetermined direction (x) coincides with a predetermined direction (y) passing through said fixed point and through said articulation point; - a elongated resilient proximal element that has a predetermined stiffness (k 1), constrained to said proximal arm and to said frame, in order to generate an interaction moment (M in1) with respect to said articulation point, said interaction moment (M in1) acting on said proximal arm and configured to generate an interaction force (F in1) on said proximal arm parallel to said direction (y) and applied to said loading point, said interaction force (F in1) correlated to said interaction moment (M in1) according to the equation F in1 *l 1 *sin (θ 1) = M in1; characterized in that it also comprises: - a carriage means (111, 111') comprising a carriage, said carriage slidingly arranged on said proximal arm and having a first balancing point arranged on said proximal axis, said first balancing point arranged at a predetermined balancing distance (b 1) from said articulation point, said carriage arranged to move along said proximal axis; - an adjustment means (112, 112', 113, 113', 114) arranged to automatically actuate said carriage means (111, 111') along said proximal axis, said adjustment means (112, 112', 113, 113', 114) configured to adjust said balancing distance (b 1); in that said interaction moment (M in1) correlated to said balancing distance (b 1) according to the equation k 1 *a 1 *b 1 *sin (θ 1) = M in1, in such a way that said interaction force (F in1) is correlated to said balancing distance (b 1) according to the equation F in1 = (k 1 *a 1 *b 1)/l 1, for any value of θ11 and in that said adjustment means (112, 112', 113, 113', 114) comprises: - an actuator, in particular a motor, integral to said proximal arm, arranged to actuate said carriage for adjusting said balancing distance; - a control unit arranged to receive input data, to analyse said input data and to operate said actuator for adjusting said balancing distance on the basis of said input data. - a frame having a fixed point and an articulation point, integral to said frame, said fixed point arranged at a predetermined distance (a 1) from said articulation point; - a proximal arm, pivotally connected to said frame at said articulation point, said proximal arm having a loading point (O') arranged at a predetermined distance (l 1) from said articulation point along a proximal axis, said proximal axis having a predetermined direction (x) and arranged to rotate by a first rotation of a predetermined amplitude (θ 1), said first rotation of a predetermined amplitude (θ 1) lying in a plane (π) containing said fixed point and said proximal axis, wherein said first predetermined amplitude (θ 1) is zero when said predetermined direction (x) coincides with a predetermined direction (y) passing through said fixed point and through said articulation point; - a elongated resilient proximal element that has a predetermined stiffness (k 1), constrained to said proximal arm and to said frame, in order to generate an interaction moment (M in1) with respect to said articulation point, said interaction moment (M in1) acting on said proximal arm and configured to generate an interaction force (F in1) on said proximal arm parallel to said direction (y) and applied to said loading point, said interaction force (F in1) correlated to said interaction moment (M in1) according to the equation F in1 *l 1 *sin (θ 1) = M in1; - a carriage means (111, 111') comprising a carriage, said carriage slidingly arranged on said proximal arm and having a first balancing point arranged on said proximal axis, said first balancing point arranged at a predetermined balancing distance (b 1) from said articulation point, said carriage arranged to move along said proximal axis; - an adjustment means (112, 112', 113, 113', 114) arranged to automatically actuate said carriage means (111, 111') along said proximal axis, said adjustment means (112, 112', 113, 113', 114) configured to adjust said balancing distance (b 1); - an actuator, in particular a motor, integral to said proximal arm, arranged to actuate said carriage for adjusting said balancing distance; - a control unit arranged to receive input data, to analyse said input data and to operate said actuator for adjusting said balancing distance on the basis of said input data.