A motion assistive apparatus comprising: an actuator configured to provide an assist power to at least one joint based on a control signal generated by a processor; a receiver configured to receive an adjustment command, the adjustment command requesting an adjustment to variable characteristics associated with torque applied to one or more joints of the motion assistive apparatus; and characterized in that the processor is configured to: store a first correlation between the variable characteristics and time response characteristics and a second correlation between the time response characteristics and one or more variable parameters, wherein the time response characteristics comprise at least one of overshoot, rise time and settling time and wherein the one or more variable parameters comprise at least one of parameters reflecting a mass, Coriolis force, and gravitational force, varying according to rotation of the one or more joints, adjust the time response characteristics of the torque associated with the adjustment to the variable characteristics based on the first correlation; and adjust the one or more variable parameters associated with an adjustment to the time response characteristics based on the second correlation in response to the adjustment command received by the receiver and to provide the control signal reflecting the adjusted one or more variable parameters. an actuator configured to provide an assist power to at least one joint based on a control signal generated by a processor; a receiver configured to receive an adjustment command, the adjustment command requesting an adjustment to variable characteristics associated with torque applied to one or more joints of the motion assistive apparatus; and characterized in that the processor is configured to: store a first correlation between the variable characteristics and time response characteristics and a second correlation between the time response characteristics and one or more variable parameters, wherein the time response characteristics comprise at least one of overshoot, rise time and settling time and wherein the one or more variable parameters comprise at least one of parameters reflecting a mass, Coriolis force, and gravitational force, varying according to rotation of the one or more joints, adjust the time response characteristics of the torque associated with the adjustment to the variable characteristics based on the first correlation; and adjust the one or more variable parameters associated with an adjustment to the time response characteristics based on the second correlation in response to the adjustment command received by the receiver and to provide the control signal reflecting the adjusted one or more variable parameters. store a first correlation between the variable characteristics and time response characteristics and a second correlation between the time response characteristics and one or more variable parameters, wherein the time response characteristics comprise at least one of overshoot, rise time and settling time and wherein the one or more variable parameters comprise at least one of parameters reflecting a mass, Coriolis force, and gravitational force, varying according to rotation of the one or more joints, adjust the time response characteristics of the torque associated with the adjustment to the variable characteristics based on the first correlation; and adjust the one or more variable parameters associated with an adjustment to the time response characteristics based on the second correlation in response to the adjustment command received by the receiver and to provide the control signal reflecting the adjusted one or more variable parameters.