A wearable device is disclosed. The wearable device may process a state variable defined based on motion information of a user, determine an interactive mode of the wearable device based on a gain associated with a magnitude of a torque of the wearable device, select a motion type from among motion types of the determined interactive mode based on a gait parameter of the user, determine a control factor for the torque based on the selected motion type, and generate the torque based on the processed state variable, the gain, and the determined control factor.