Abstract: A system, method and device for characterising a joint between a first body region and a second body region is disclosed. The system may comprise a reference portion configured to be coupled to the first body region, a movable portion configured to be coupled to the second body region and a movement source configured to move the movable portion relative to the reference portion, such as in a direction of the joint. A set of one or more sensors may collect a set of one or more measurements related to the movement between the reference portion and the movable portion, for example to determine a force between the movable portion and the body region coupled thereto, and/or a power consumed by the movement source. The measurements may be used to characterise the joint, such as by determining a rigidity of the joint.