A non-therapeutic operation method of a walking assistance device , the operation method comprising: processing a state variable to generate a processed state variable, the state variable being based on motion information of a user , wherein the motion information includes angles of hip joints of the user ; determining an interactive mode of the walking assistance device based on a gain (κ) being a factor that is associated with a magnitude of a torque of the walking assistance device ; selecting a motion type from among a plurality of motion types associated with the interactive mode based on a gait parameter of the user ; determining a control factor for the torque based on the motion type; and generating the torque based on the processed state variable, the gain (κ), and the control factor, wherein the gait parameter includes a first gait feature value being a cadence of the user , and the selecting of the motion type comprises: determining the motion type of the walking assistance device to be a walk motion type , in response to the first gait feature value being less than or equal to a first threshold value; determining the motion type to be a walk-to-run motion type , in response to the first gait feature value being greater than the first threshold value and less than or equal to a second threshold value; and determining the motion type to be a run motion type , in response to the first gait feature value being greater than the second threshold value, wherein the determining of the control factor comprises: adjusting at least one of a smoothing factor associated with the processing of the state variable and a delay in output timing of the torque, in response to a motion type change event occurring by the selecting of the motion type. processing a state variable to generate a processed state variable, the state variable being based on motion information of a user , wherein the motion information includes angles of hip joints of the user ; determining an interactive mode of the walking assistance device based on a gain (κ) being a factor that is associated with a magnitude of a torque of the walking assistance device ; selecting a motion type from among a plurality of motion types associated with the interactive mode based on a gait parameter of the user ; determining a control factor for the torque based on the motion type; and generating the torque based on the processed state variable, the gain (κ), and the control factor, wherein the gait parameter includes a first gait feature value being a cadence of the user , and the selecting of the motion type comprises: determining the motion type of the walking assistance device to be a walk motion type , in response to the first gait feature value being less than or equal to a first threshold value; determining the motion type to be a walk-to-run motion type , in response to the first gait feature value being greater than the first threshold value and less than or equal to a second threshold value; and determining the motion type to be a run motion type , in response to the first gait feature value being greater than the second threshold value, wherein the determining of the control factor comprises: adjusting at least one of a smoothing factor associated with the processing of the state variable and a delay in output timing of the torque, in response to a motion type change event occurring by the selecting of the motion type. <EOS>