An assisting torque setting apparatus comprising: a body information extractor configured to extract body information on a user; a reference gait model generator configured to generate a reference gait model by applying the body information to a body model, or a receiver configured to receive a reference gait model from an external source, the reference gait model being modeled based on body information of the user; and an assisting torque setter (230, 320) configured to set an optimal assisting torque by adjusting an assisting torque provided to the user based on the reference gait model; wherein the assisting torque setter (230, 320) is configured to: determine an amount of metabolic energy used for a gait of the user by calculating a metabolic cost of transport (MCOT) associated with the user; and adjust the assisting torque based on the determined amount of metabolic energy; characterized in that the assisting torque setter (230, 320) is further configured to: generate an initial assisting torque profile, the initial assisting torque profile indicating a trajectory of the assisting torque such that the trajectory of the assisting torque changes over a period of time based on the reference gait model; and determine an optimal assisting torque profile from the initial assisting torque profile by adjusting the trajectory such that the optimal assisting torque profile minimizes the MCOT. a body information extractor configured to extract body information on a user; a reference gait model generator configured to generate a reference gait model by applying the body information to a body model, or a receiver configured to receive a reference gait model from an external source, the reference gait model being modeled based on body information of the user; and an assisting torque setter (230, 320) configured to set an optimal assisting torque by adjusting an assisting torque provided to the user based on the reference gait model; wherein the assisting torque setter (230, 320) is configured to: determine an amount of metabolic energy used for a gait of the user by calculating a metabolic cost of transport (MCOT) associated with the user; and adjust the assisting torque based on the determined amount of metabolic energy; determine an amount of metabolic energy used for a gait of the user by calculating a metabolic cost of transport (MCOT) associated with the user; and adjust the assisting torque based on the determined amount of metabolic energy; characterized in that the assisting torque setter (230, 320) is further configured to: generate an initial assisting torque profile, the initial assisting torque profile indicating a trajectory of the assisting torque such that the trajectory of the assisting torque changes over a period of time based on the reference gait model; and determine an optimal assisting torque profile from the initial assisting torque profile by adjusting the trajectory such that the optimal assisting torque profile minimizes the MCOT. generate an initial assisting torque profile, the initial assisting torque profile indicating a trajectory of the assisting torque such that the trajectory of the assisting torque changes over a period of time based on the reference gait model; and determine an optimal assisting torque profile from the initial assisting torque profile by adjusting the trajectory such that the optimal assisting torque profile minimizes the MCOT.