A terminal for controlling a home device of a home network system using a first wearable device and a second wearable device that can be worn on a user's body, the terminal comprising: a reception unit that is configured to: establish a first connection with the first wearable device, establish a second connection with the second wearable device, establish a third connection with a home gateway, and receive, from the first wearable device, a first control signal generated based on one of the motion of the first wearable device, the user's voice input to the first wearable device and the user's touch input to the first wearable device through the first connection, receive, from the second wearable device, a second control signal generated based on one of the motion of the second wearable device, the user's voice input to the second wearable device and the user's touch input to the second wearable device through the second connection, the terminal further comprising a controller that is configured to: determine sensor values based on the first control signal and the second control signal, determine probability values based on the sensor values by using a Bayesian estimation algorithm, compare each of the probability values with a threshold value, determine whether to transmit, to the home gateway, a control command for controlling the home device via the home gateway according to the comparison result; and transmit the control command to the home gateway through the third connection, if it is determined to transmit the control command, the control command generated for the home gateway to control the home device. a reception unit that is configured to: establish a first connection with the first wearable device, establish a second connection with the second wearable device, establish a third connection with a home gateway, and receive, from the first wearable device, a first control signal generated based on one of the motion of the first wearable device, the user's voice input to the first wearable device and the user's touch input to the first wearable device through the first connection, receive, from the second wearable device, a second control signal generated based on one of the motion of the second wearable device, the user's voice input to the second wearable device and the user's touch input to the second wearable device through the second connection, establish a first connection with the first wearable device, establish a second connection with the second wearable device, establish a third connection with a home gateway, and receive, from the first wearable device, a first control signal generated based on one of the motion of the first wearable device, the user's voice input to the first wearable device and the user's touch input to the first wearable device through the first connection, receive, from the second wearable device, a second control signal generated based on one of the motion of the second wearable device, the user's voice input to the second wearable device and the user's touch input to the second wearable device through the second connection, the terminal further comprising a controller that is configured to: determine sensor values based on the first control signal and the second control signal, determine probability values based on the sensor values by using a Bayesian estimation algorithm, compare each of the probability values with a threshold value, determine whether to transmit, to the home gateway, a control command for controlling the home device via the home gateway according to the comparison result; and transmit the control command to the home gateway through the third connection, if it is determined to transmit the control command, the control command generated for the home gateway to control the home device. determine sensor values based on the first control signal and the second control signal, determine probability values based on the sensor values by using a Bayesian estimation algorithm, compare each of the probability values with a threshold value, determine whether to transmit, to the home gateway, a control command for controlling the home device via the home gateway according to the comparison result; and transmit the control command to the home gateway through the third connection, if it is determined to transmit the control command, the control command generated for the home gateway to control the home device.