A walking assistance apparatus (1, 600), comprising: a first sensor configured to measure a movement of a hip joint of a user via measuring a joint angle of the hip joint of the user when associated with the walking assistance apparatus, said first sensor providing a measured joint angle of the hip joint; a second sensor configured to measure a movement of another portion of a body than the hip joint, wherein the second sensor is configured to measure a movement of a pelvis of the user and/or an inclination of a trunk of the user, said second sensor providing a measured movement of the pelvis and/or a measured inclination of the trunk; a driver configured to assist the user in walking; and a processor configured to correct the measured joint angle of the hip joint, as measured by the first sensor, based on the measured movement of the pelvis and/or of the measured inclination of the trunk, as measured by the second sensor, to generate a corrected measured joint angle, and correct the joint angle of the hip joint based on the corrected measured joint angle by controlling a torque to be applied by the driver based on the corrected measured joint angle of the hip joint to thereby correct the joint angle of the hip joint, characterized in that the processor is configured to determine an amount to correct the measured joint angle of the hip joint by one or more than one of: - a determination if the range of motion of the hip joint is less than a threshold range based on the measurement of the joint angle of the hip joint and the measurement of the movement of the pelvis, and correct the joint angle of the hip joint based on the movement of the pelvis based on a value obtained by applying a bandpass filter to a rotational angular velocity of the pelvis; and - a determination if the inclination of the trunk is greater than a threshold value based on the measurement of the inclination of the trunk, and correct the joint angle of the hip joint based on the inclination of the trunk by subtracting an angle of a forward inclination of the trunk from the joint angle of the hip joint. a first sensor configured to measure a movement of a hip joint of a user via measuring a joint angle of the hip joint of the user when associated with the walking assistance apparatus, said first sensor providing a measured joint angle of the hip joint; a second sensor configured to measure a movement of another portion of a body than the hip joint, wherein the second sensor is configured to measure a movement of a pelvis of the user and/or an inclination of a trunk of the user, said second sensor providing a measured movement of the pelvis and/or a measured inclination of the trunk; a driver configured to assist the user in walking; and a processor configured to correct the measured joint angle of the hip joint, as measured by the first sensor, based on the measured movement of the pelvis and/or of the measured inclination of the trunk, as measured by the second sensor, to generate a corrected measured joint angle, and correct the joint angle of the hip joint based on the corrected measured joint angle by controlling a torque to be applied by the driver based on the corrected measured joint angle of the hip joint to thereby correct the joint angle of the hip joint, correct the measured joint angle of the hip joint, as measured by the first sensor, based on the measured movement of the pelvis and/or of the measured inclination of the trunk, as measured by the second sensor, to generate a corrected measured joint angle, and correct the joint angle of the hip joint based on the corrected measured joint angle by controlling a torque to be applied by the driver based on the corrected measured joint angle of the hip joint to thereby correct the joint angle of the hip joint, characterized in that the processor is configured to determine an amount to correct the measured joint angle of the hip joint by one or more than one of: - a determination if the range of motion of the hip joint is less than a threshold range based on the measurement of the joint angle of the hip joint and the measurement of the movement of the pelvis, and correct the joint angle of the hip joint based on the movement of the pelvis based on a value obtained by applying a bandpass filter to a rotational angular velocity of the pelvis; and - a determination if the inclination of the trunk is greater than a threshold value based on the measurement of the inclination of the trunk, and correct the joint angle of the hip joint based on the inclination of the trunk by subtracting an angle of a forward inclination of the trunk from the joint angle of the hip joint. - a determination if the range of motion of the hip joint is less than a threshold range based on the measurement of the joint angle of the hip joint and the measurement of the movement of the pelvis, and correct the joint angle of the hip joint based on the movement of the pelvis based on a value obtained by applying a bandpass filter to a rotational angular velocity of the pelvis; and - a determination if the inclination of the trunk is greater than a threshold value based on the measurement of the inclination of the trunk, and correct the joint angle of the hip joint based on the inclination of the trunk by subtracting an angle of a forward inclination of the trunk from the joint angle of the hip joint.