The Internet of Things (IoT) is composed of a wide range of heterogeneous network devices that communicate with their users and the surrounding devices. The secure communications between these devices are still essential even with little or no previous knowledge about each other and regardless of their resource capabilities. This particular context requires appropriate security mechanisms which should be wellsuited for the heterogeneous nature of IoT devices, without pre-sharing a secret key for each secure connection. In this work, we first propose a novel symmetric cipher proxy re-encryption scheme. Such a primitive allows a user to delegate her decryption rights to another with the help of a semi-trusted proxy, but without giving this latter any information on the transmitted messages and the user's secret keys. We then propose AKAPR, an Authenticated Key Agreement mediated by a Proxy Re-encryptor for IoT. The mechanism permits any two highly resource-constrained devices to establish a secure communication with no prior trust relationship. AKAPR is built upon our proposed proxy re-encryption scheme. It has been proved by ProVerif to provide mutual authentication for participants while preserving the secrecy of the generated session key. In addition, the scheme benefits from the lightness of our proxy re-encryption algorithm as it requires no expensive cryptographic operations such as pairing or modular exponentiation