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Non-collinear spin structures can exhibit unusual magnetic properties that cannot be expected in an ordinary collinear ferromagnet (FM) due to the chiral alignment of magnetic moments, offering new opportunities for applications in the field of spintronics. In the present study, we demonstrate that exchange bias pinning can be applied to a single FM layer in two different directions simultaneously, resulting in modified magnetic behaviors due to the formation of non-collinear helical spin structures in the multilayers of Co0.7Ni0.3O (antiferromagnet, AFM)/Co0.7Ni0.3 (FM)/Co0.7Ni0.3O (AFM)/Pt (heavy metal, HM). The pinning of spins at one interface between FM and AFM/HM was controlled by spin Hall current originating from the electrical current through the HM layer at room temperature, while the spins at the other interface between FM and AFM were pinned in a fixed direction, hence allowing for the formation of a helical spin structure along the FM layer thickness with controllable chirality at room temperature. Modified magnetic behaviors of a helical spin structure were confirmed from measurements of magnetic hysteresis and magnetoresistance, as well as direct observation of magnetic domains.