A method implemented in a wearable robot for estimating in real time the evolution of at least one motion variable (θ) in a discrete gesture performed by a user wearing the wearable robot, said robot comprising control means and sensor means adapted to measure at least one variable, wherein: - a motor primitive library is recorded in said control means for a corresponding plurality of possible discrete gestures, each motor primitive comprising an array of predetermined values for the at least one motion variable (θ) in the performance of the relative gesture, sampled as a function of a non-dimensional phase (φ) of said gesture; and wherein, as one of said discrete gesture is performed by the user, said control means iteratively execute sequences of control steps, each sequence comprising the steps of: - receiving by said sensor means a measured current value (θ(i)) of said at least one motion variable (θ); - retrieving an error (ε(i)) by comparison of said current value (θ(i)) and an estimated value θ ^ i − 1 of the variable obtained at the previous sequence; - on the basis of said error (ε(i)) and of a normalization ( θ n (i)) of the current value of the motion variable, updating the motor primitive of the gesture being performed, and retrieving from said normalization and from said updated motor primitive a current phase (<p(i)) of the gesture being performed; - on the basis of said current phase (φ( i), and of a predetermined dynamic model function (f(φ)) of at least said phase, obtaining the estimated value of the motion variable ( θ ^ i at the subsequent sequence, to be used to retrieve said error (ε(i)); - on the basis of said current phase(<p(i)), making use of said primitive or of said predetermined dynamic model function (f(φ)), retrieving a predictive value θ ^ φ i of said motion variable in a determined subsequent time or phase period, wherein a first of said sequences further comprises an initialization step in which said control means set an initial value ( θ 0) of said at least one motion variable at a zero time of the gesture and an estimated final value ( θ T (i)) of the same variable at the end of the gesture; wherein in each sequence: said estimated final value is updated as a function of said error (ε(i)); said current value (θ(i)), said initial value( θ 0) and said updated estimated final value (θ T (i)) are used to retrieve said normalization of the current value ( θ n ( i)); and said estimated value θ ^ i of the motion variable at the subsequent sequence is obtained on the basis of said dynamic model also as a function of at least said updated estimated final value (θ T (i)) and said current value (θ(i)) of the motion variable. - a motor primitive library is recorded in said control means for a corresponding plurality of possible discrete gestures, each motor primitive comprising an array of predetermined values for the at least one motion variable (θ) in the performance of the relative gesture, sampled as a function of a non-dimensional phase (φ) of said gesture; and wherein, as one of said discrete gesture is performed by the user, said control means iteratively execute sequences of control steps, each sequence comprising the steps of: - receiving by said sensor means a measured current value (θ(i)) of said at least one motion variable (θ); - retrieving an error (ε(i)) by comparison of said current value (θ(i)) and an estimated value θ ^ i − 1 of the variable obtained at the previous sequence; - on the basis of said error (ε(i)) and of a normalization ( θ n (i)) of the current value of the motion variable, updating the motor primitive of the gesture being performed, and retrieving from said normalization and from said updated motor primitive a current phase (<p(i)) of the gesture being performed; - on the basis of said current phase (φ( i), and of a predetermined dynamic model function (f(φ)) of at least said phase, obtaining the estimated value of the motion variable ( θ ^ i at the subsequent sequence, to be used to retrieve said error (ε(i)); - on the basis of said current phase(<p(i)), making use of said primitive or of said predetermined dynamic model function (f(φ)), retrieving a predictive value θ ^ φ i of said motion variable in a determined subsequent time or phase period, - receiving by said sensor means a measured current value (θ(i)) of said at least one motion variable (θ); - retrieving an error (ε(i)) by comparison of said current value (θ(i)) and an estimated value θ ^ i − 1 of the variable obtained at the previous sequence; - on the basis of said error (ε(i)) and of a normalization ( θ n (i)) of the current value of the motion variable, updating the motor primitive of the gesture being performed, and retrieving from said normalization and from said updated motor primitive a current phase (<p(i)) of the gesture being performed; - on the basis of said current phase (φ( i), and of a predetermined dynamic model function (f(φ)) of at least said phase, obtaining the estimated value of the motion variable ( θ ^ i at the subsequent sequence, to be used to retrieve said error (ε(i)); - on the basis of said current phase(<p(i)), making use of said primitive or of said predetermined dynamic model function (f(φ)), retrieving a predictive value θ ^ φ i of said motion variable in a determined subsequent time or phase period,