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Published in IEEE Transactions in Biomedical Engineering (TBME), we are presenting the optimization of a semi-active hip exoskeleton concept using impedance control at varying walking speeds. We collected 2-minute estimations of metabolic cost across 30 combinations of impedance parameters (stiffness and reference angle) to predict the most metabolically beneficial parameter set. We also collected EMG from 8 lower limb muscles (tibialis anterior (TA), medial gastrocnemius (MG), soleus (SOL), vastus medialis (VM), rectus femoris (RF), biceps femoris (BF), gluteus maximus (GMa), and gluteus medius (GMe)) and used linear combinations of this data to predict metabolic cost. Read the paper for more details on how the data was collected and how this data has been used so far. Below is the Matlab dataset (.mat file) and a .txt “read me” file explaining how to navigate the structure.