The dataset was collected to evaluate muscle responses under different hip exoskeleton assistance conditions. Eleven participants (age: 21 ± 1 years; height: 1.75 ± 0.08 m; body mass: 71.7 ± 8 kg) took part in the experiment. Participant data was anonymized. The applied torque profile consisted of four half-cycle sinusoidal segments connected at their respective peaks, designed to approximate the human hip torque pattern, with a peak extension torque of 10 Nm and a peak flexion torque of 8 Nm. Peak extension torque timing was varied from 0% to 45% of the stride cycle in 5% increments, resulting in ten distinct timing conditions that were randomly assigned. Each experiment began with a five-minute walking trial without exoskeleton assistance (zero-torque condition). This was followed by ten four-minute walking trials with exoskeleton assistance, during which the peak extension and flexion torque timings were applied in a randomized order. Walking was performed on a treadmill at a constant speed of 1.25 m/s. Metabolic rate was measured using indirect calorimetry (Cosmed K5, Italy). Surface electromyography (EMG) was recorded bilaterally from six muscles, rectus femoris, gluteus maximus, biceps femoris, tibialis anterior, gastrocnemius lateralis, and soleus, using a wireless EMG system (Delsys Trigno, USA). Ground reaction forces (GRF) were recorded for the right and the left limb from the instrumented dual force plate treadmill (ADAL-WR, HEF Tecmachine, Andrezieux-Boutheon, France).