A walking assistance apparatus, comprising: a sensor configured to obtain sensor information; and a processor configured to perform the following steps of: determining, based on the sensor information, that a user is performing a turning walking operation determining a turning direction associated with the turning walking operation; and adjusting at least one control parameter based on the determined turning direction to assist the turning operation, wherein said adjusting of the at least one control parameter comprises the steps of: when the turning direction is left, one or more of: reducing a swing phase torque of a left hip joint of the user and reduce a stance phase torque of a right hip joint of the user; and reducing a push-off phase torque of a right ankle joint of the user; and when the turning direction is right, one or more of: reducing a stance phase torque of a left hip joint of the user and reduce a swing phase torque of a right hip joint of the user; and reducing a push-off phase torque of a left ankle joint of the user. a sensor configured to obtain sensor information; and a processor configured to perform the following steps of: determining, based on the sensor information, that a user is performing a turning walking operation determining a turning direction associated with the turning walking operation; and adjusting at least one control parameter based on the determined turning direction to assist the turning operation, wherein said adjusting of the at least one control parameter comprises the steps of: when the turning direction is left, one or more of: reducing a swing phase torque of a left hip joint of the user and reduce a stance phase torque of a right hip joint of the user; and reducing a push-off phase torque of a right ankle joint of the user; and when the turning direction is right, one or more of: reducing a stance phase torque of a left hip joint of the user and reduce a swing phase torque of a right hip joint of the user; and reducing a push-off phase torque of a left ankle joint of the user. determining, based on the sensor information, that a user is performing a turning walking operation determining a turning direction associated with the turning walking operation; and adjusting at least one control parameter based on the determined turning direction to assist the turning operation, wherein said adjusting of the at least one control parameter comprises the steps of: when the turning direction is left, one or more of: reducing a swing phase torque of a left hip joint of the user and reduce a stance phase torque of a right hip joint of the user; and reducing a push-off phase torque of a right ankle joint of the user; and when the turning direction is right, one or more of: reducing a stance phase torque of a left hip joint of the user and reduce a swing phase torque of a right hip joint of the user; and reducing a push-off phase torque of a left ankle joint of the user. reducing a swing phase torque of a left hip joint of the user and reduce a stance phase torque of a right hip joint of the user; and reducing a push-off phase torque of a right ankle joint of the user; and when the turning direction is right, one or more of: reducing a stance phase torque of a left hip joint of the user and reduce a swing phase torque of a right hip joint of the user; and reducing a push-off phase torque of a left ankle joint of the user. reducing a stance phase torque of a left hip joint of the user and reduce a swing phase torque of a right hip joint of the user; and reducing a push-off phase torque of a left ankle joint of the user. <EOS>