Abstract: System and method for movement proprioceptive stimulation, monitoring and characterization comprising: a component for proprioceptive action and another for movement characterization. Both components are coupled so that they can be used (worn) in outpatient treatment on the upper and lower limbs of the body side showing motor deficit. This device can be applied in healthcare, particularly in neurorehabilitation, in basic or clinical science activities, in products aimed at recreational market segments (e.g. dancing, video games, interactive TV, 3D cinema) and in sports and motor performance improvement for competition purposes. The system comprises a main module for movement control, proprioceptive stimulation and quantification, modules for movement control, proprioceptive stimulation and quantification and proprioceptive stimulation elements.