System to assist a person in walking, wherein said system comprises an exoskeleton to be fitted to a person, wherein the exoskeleton comprises the following articulated structures (31-33), configured for applying movements in the person's lower extremity: - an exo-ankle articulation comprising an attachment of an exo-foot with an exo-tibia, comprising two actuators configured to allow flexion-extension and abduction-adduction movements of the person's ankle, said actuators being connected to two sensors located in the wrist; - an exo-knee articulation comprising an attachment of the exo-tibia with an exo-femur, configured to allow flexion-extension movement of the person's knee, through an actuator connected to a sensor in the elbow; wherein the exoskeleton further comprises: - an exo-hip articulation attached to the exo-femur, configured to allow flexion-extension, abduction-adduction and rotation movements of the person's hip through a first, second and third actuators , wherein the flexion-extension movement is performed through the first actuator located between the exo-femur and the exo-hip in the front part of the person's hip, the abduction-adduction movement is performed through the second actuator located on the inner face of the person's hip in an attachment of the exo-hip with the exo-femur, and the rotation movements are performed through the third actuator located on the outer face of the person's hip, and wherein the three actuators are connected to a first, second and third sensors located in the upper part of the shoulders; wherein the system further comprises processing means configured for receiving information from the sensors (11-15, 17) about the movements of the person's wrist, elbow and shoulders, and for translating said movements into an actuation of their corresponding actuators (21-25, 27), thereby controlling the movement of the articulations (31-33) in real time. - an exo-ankle articulation comprising an attachment of an exo-foot with an exo-tibia, comprising two actuators configured to allow flexion-extension and abduction-adduction movements of the person's ankle, said actuators being connected to two sensors located in the wrist; - an exo-knee articulation comprising an attachment of the exo-tibia with an exo-femur, configured to allow flexion-extension movement of the person's knee, through an actuator connected to a sensor in the elbow; wherein the exoskeleton further comprises: - an exo-hip articulation attached to the exo-femur, configured to allow flexion-extension, abduction-adduction and rotation movements of the person's hip through a first, second and third actuators , wherein the flexion-extension movement is performed through the first actuator located between the exo-femur and the exo-hip in the front part of the person's hip, the abduction-adduction movement is performed through the second actuator located on the inner face of the person's hip in an attachment of the exo-hip with the exo-femur, and the rotation movements are performed through the third actuator located on the outer face of the person's hip, and wherein the three actuators are connected to a first, second and third sensors located in the upper part of the shoulders; wherein the system further comprises processing means configured for receiving information from the sensors (11-15, 17) about the movements of the person's wrist, elbow and shoulders, and for translating said movements into an actuation of their corresponding actuators (21-25, 27), thereby controlling the movement of the articulations (31-33) in real time. <EOS>