It is well known that proprioception is necessary to maintain balance control. Although proprioceptive exercices have shown to have beneficial effects on balance, the joint position sense is not easy to measure and patient cannot practise self-measurement. This article proposes a new system specifically desinged to allow measure and improve proprioceptive function. This so-called 'iProprio' system uses inertial sensors included in a smartphone, wireless communication and voice command to allow joint position sense measurment in autonomous way and provide a configurable vibrotactile biofeedback for end-users at home. A proof-of-concept study was performed to assess the effectiveness of iProprio on sixteen young healthy subjects. Results showed that they were able to take advantage of vibrotactile biofeedback to increase knee joint repositioning accuracy and consistency. Results suggest that iProprio can be used for rehabilitation proprioceptive home exercices.