A method for controlling balance of a user comprising: optionally verifying (510) whether the user is in a standing state, measuring (520) a balance state of the user, determining (530) an assist mode based on the balance state, and calculating (540) a torque that controls balance of the user, inputting (550) the calculated torque to an actuator, and an assistance force for controlling balance may be provided for the user based on the torque generated by an actuator. An apparatus implementing said method is also provided.
