System to assist a person in walking, consisting of an exoskeleton to be fitted to the person comprising a plurality of articulated structures for the flexion of the lower extremities and a plurality of sensors. The plurality of sensors measures the flexion performed in the joints of the upper extremities and applies a movement that is transmitted to the lower extremities by the articulated structures depending on the measured flexion. Advantageously, the movement is generated by the individual himself or herself as he or she walks and does not require being pre-programmed.
