Adaptive brake assist system a cyclist on a bicycle by an aptic feedback, includes a first sensor (for measuring the angular speed (ω1) of a first wheel of the bicycle, adapted to generate a signal representative of the angular speed of the first wheel; an actuator mountable to a portion of the bicycle, adapted to generate vibrations; a control module configured to generate a command signal of the actuator, so that the actuator vibrates at a vibration frequency (f), based on at least the signal representative of the angular speed of the first wheel (ω1) and based on one or more reference magnitudes (ηref); and a learning module configured to determine, updating and delivering to the control module the one or more reference magnitudes (ηref) based on at least the signal representative of the angular speed (ω1) of the first wheel.