The present invention discloses a walking assistive system comprising a motion module, a current detecting module and a central control module. Each motion module includes omni-directional wheels, motors, shaft encoders and servo controllers. The omni-directional wheels are connected to and driven by the motors. The motors are connected to the shaft encoders, and the rotation speed values are generated corresponds to the rotation speed of the motors by the shaft coder. The servo controllers connected to the shaft encoders and the motors receive the rotation speed values and control the motors. The current detecting modules connected to the motors detect the current of the motors and generate current values correspondingly. The central control module connected to the motion control module and the current detecting module controls the platform compliant motion control modules according to the rotation speed values and the current values.
