A terminal display for a walking assistance system can be removably attached to the system. The system comprises can include segments including lumbar, thigh, shank, and optionally, foot segments. The system integrates multiple sensors to determine each segment's relative position and a control unit to process the user center of mass (COM) relative to their feet position. The display connects wirelessly to the control unit and presents the user's center of mass, preferably relative to their feet position, which is also displayed, enhancing this way walking assistance capabilities.

A wearable device provides a torque to a user performing an exercise, obtains an index of burden on a body of the user based on at least one of exercise information about exercise execution of the user, biometric information of the user, or settings information that is set to the wearable device to provide the torque, selects a sentence used for voice generation of the wearable device based on the index, and generates a voice based on the selected sentence and provides the generated voice to the user.