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Family Arctiidae, Isia alcumena
ID thanks to Doug Yanega and bayucca.
Sergio, it is Hypercompe steinbachi! Sorry, no link, only a wrong one from bold and a drawing from Seitz.
Or Hyphantria sp.? Same one, but only a tentative ID.
http://www.insetologia.com.br/2013/04/ma...
http://bugguide.net/node/view/453/bgimag...
A little bit sceptic, I would still tend to Hypercompe sp., though, without really knowing why...