Abstract This study presents a numerical and experimental development of a piezo-actuated device used for monitoring the stiffness variations of its support through electromechanical impedance measurements. The piezo-device and its components define a clamped beam system activated dynamically by two piezo-transducers that transmit vibrations to the support (monitoring substrate). An harmonic finite element analysis was carried out to understand the effects of the substrate properties on the dynamics of the piezo-device. Experimental tests corroborated the simulations with the correspondence of modal shapes and frequency response functions (FRFs) when the substrate varies its stiffness. A biomedical application was conducted in a bone specimen with three embedded teeth to monitor the stiffness variations induced by drillings in the bone. Results showed that the bone stiffness monitoring could be possible through the teeth due to that the drillings effect were quantified by electrical impedance signals.