an assistance apparatus configured to assist an extending motion and a flexing motion of a knee joint performed by a user during a walking motion, the assistance apparatus comprising a driving motor;

a displacement sensor configured to detect a displacement of the knee joint and an angle of the knee joint; and

a micro processing unit configured to:

set a selected assistance level, the selected assistance level being an assistance level to be exerted by the assistance apparatus;

acquire load data regarding a load of the assistance apparatus;

determine, based on the selected assistance level, the load data, and an output of the displacement sensor, a recommended assistance level that is the assistance level to be recommended, and to output information about the determined recommended assistance level; and

detect a walking cycle of the walking motion of the user, and when a knee extension angle of the user exceeds a threshold angle during a stance phase of the walking cycle, drive the driving motor to assist the extending motion and the flexing motion of the knee joint with a motor torque determined by the recommended assistance level.