A motion assist apparatus and a method for controlling thereof

An apparatus for exercise assistance includes: a fixed module fixed to a user; a driving module fixed to the fixed module and generating rotational power; a supporting module supporting a part of the user and driven by the driving module; a force sensor for measuring the magnitude of a force applied to the fixed module; and a control unit controlling the driving module. A method for controlling the apparatus for exercise assistance includes: a step of generating driving torque for driving the supporting module in the driving module; a step of measuring the magnitude and direction of the force indicated by the force sensor; a step of calculating compensation torque with which the measured magnitude of the force can be minimized; and a step of driving the driving module after adding up the driving torque and the compensation torque.