A control method of a walking assistance apparatus for the lower limbs of a user, on which an exoskeleton of said walking assistance apparatus has been put, the method being characterized by the steps of: a) setting a trigger condition, wherein setting comprises the sub steps of: deciding the specific action to be implemented by the user; adhering EMG (electromyography) muscle sensors to specific muscles to be used in performing said specific actions; enabling said user to repeatedly perform a test movement based on the decided specific action; and setting said trigger condition based on the result of said testmovement; b) using a plurality of EMG (electromyography) muscle sensors to detect EMG signals from specific muscles of said user when said user is performing specific actions; c) judging whether the sensing result of step b) meets said trigger condition; and d) triggering a Motion generator to provide a control signal to a Control unit for controlling said exoskeleton in moving the lower limbs of said user to perform said specific actions if the sensing result of step b) meets said trigger condition; wherein step c) of judging whether the sensing result of step b) meets said trigger condition comprises the sub steps of: using a signal receiver to receive sensed EMG signals from said EMG muscle sensors ; using a signal processor to process the EMG signals been received by said signal receiver and to display the processed data on a human machine interface of said walking assistance apparatus for enabling a judgement whether the sensing result of step b) meets said trigger condition set in step a). a) setting a trigger condition, wherein setting comprises the sub steps of: deciding the specific action to be implemented by the user; adhering EMG (electromyography) muscle sensors to specific muscles to be used in performing said specific actions; enabling said user to repeatedly perform a test movement based on the decided specific action; and setting said trigger condition based on the result of said testmovement; deciding the specific action to be implemented by the user; adhering EMG (electromyography) muscle sensors to specific muscles to be used in performing said specific actions; enabling said user to repeatedly perform a test movement based on the decided specific action; and setting said trigger condition based on the result of said testmovement; b) using a plurality of EMG (electromyography) muscle sensors to detect EMG signals from specific muscles of said user when said user is performing specific actions; c) judging whether the sensing result of step b) meets said trigger condition; and d) triggering a Motion generator to provide a control signal to a Control unit for controlling said exoskeleton in moving the lower limbs of said user to perform said specific actions if the sensing result of step b) meets said trigger condition; wherein step c) of judging whether the sensing result of step b) meets said trigger condition comprises the sub steps of: using a signal receiver to receive sensed EMG signals from said EMG muscle sensors ; using a signal processor to process the EMG signals been received by said signal receiver and to display the processed data on a human machine interface of said walking assistance apparatus for enabling a judgement whether the sensing result of step b) meets said trigger condition set in step a). using a signal receiver to receive sensed EMG signals from said EMG muscle sensors ; using a signal processor to process the EMG signals been received by said signal receiver and to display the processed data on a human machine interface of said walking assistance apparatus for enabling a judgement whether the sensing result of step b) meets said trigger condition set in step a). <EOS>