NOVELTY - The method involves recording/capturing a setpoint curve corresponding to a preset variation of a main exercise parameter based on a state parameter such as time or displacement, of a mobile body (3). A real curve corresponding to the variation of the parameter measured during the exercise is acquired based on the state parameter. An engine unit is controlled so as to subjugate the real curve around the setpoint curve during the exercise, where the engine unit is controlled for moving or braking the mobile body in a translatory movement.    USE - Method for controlling a muscular/articular exercise apparatus that is utilized for rehabilitation or physical training of a part of a body such as upper limb e.g. forearm, wrist, elbow, and lower limb e.g. ankle, thigh and knee, of a user (all claimed) such as skier, swimmer, tennis player and patient, in a hospital, a kinesitherapy cabinet, a sport club, a physical form maintenance club and a user residence. Can also be used for rehabilitation of a hip or pelvis of a patient.    ADVANTAGE - The method permits the muscular/articular exercise apparatus to conveniently and simultaneously carry out bidirectional or multidirectional movements or efforts by permitting to carry out an effort according to several degrees of freedom. The muscular/articular exercise apparatus has less-weight and reduced encumbrance, and is easy to transport or portable by using the hollow body, the driving unit and the mobile body.    DETAILED DESCRIPTION - The main exercise parameter represents displacement effort selected among force developed by a user on the body, torque or force developed by a driving unit, displacement speed of the body and acceleration of the body. An INDEPENDENT CLAIM is also included for a muscular/articular exercise apparatus including a mobile body.    DESCRIPTION OF DRAWING(S) - The drawing shows a schematic view illustrating a user using a muscular/articular exercise apparatus and attempting to follow a trajectory delimited in a space.    User (U)    Upper limb (MS)    Hollow body (2)    Mobile body (3)    Cooperation unit (7)