A walking assistance method may include receiving at least one abnormal gait type selected from a plurality of abnormal gait types, and differently controlling a walking assistance apparatus based on the at least one abnormal gait type.Further, a walking assistance apparatus comprising:a driver configured to assist a gait of a user； anda controller configured to receive at least one abnormal gait type selected from a plurality of abnormal gait types, and to control the driver based on the at least one abnormal gait type, is disclosed.Furthermore a walking assistance system comprising:said walking assistance apparatus, anda parameter generation apparatus configured to generate torque parameters by,generating a gait motion based on a first torque and a second torque, the first torque being a torque mapped to each joint of a user for each of the plurality of abnormal gait types, and the second torque being a torque to be generated by the walking assistance apparatus,calculating an object function based on the gait motion, andgenerating the torque parameters corresponding to each assist torque profile of the abnormal gait types based on a result of the calculating, is disclosed
