determining a first motion of a user as a first exercise move of a of a plurality of exercise moves which are distinguished from one another in a cycle of an exercise based on at least one of hip joint angles of the user;

outputting a first torque that assists the user as the user performs the first exercise move, the first torque being based on a first gain having a first sign; and

outputting a second torque that resists the user as the user performs a second exercise move of the plurality of exercise moves when determining a second motion which is a subsequent motion of the first motion as the second exercise move, the second torque being based on a second gain having a second sign different from the first sign.