Quantitative assessment of the muscle tone is important when studying patients with neurological disorders such as Parkinson's disease (PD). For the assessment of therapeutic progress, quantitative and objective outcome measures are needed. This article presents a novel electromechanical device to monitor the quantitative rigidity of the wrist joint against passive movement. The novel device is equipped with an electrical motor to move the wrist joint in a flexion-extension manner with different velocity profiles. The accuracy of the device was measured in terms of position, velocity and torque accuracy. The feasibility of the measurement procedure was tested in a pilot study with four PD patients and 12 healthy controls (HC), at velocities of 10°/s, 50°/s, and 100°/s. The position and velocity of the developed device were (0.005 ± 0.105)° and (0.734 ± 0.276)°/s, unloaded, and (0.003 ± 0.113)° and (0.013 ± 0.038)°/s, loaded with a relaxed arm, respectively. The torque accuracy was (15.029 ± 2.235) mNm. The comparison of the median rigidity between the PD patients and HC showed significant differences at all tested velocities, during both flexion and extension movements. This device proved to have sufficient accuracy and sensitivity to precisely measure the interaction torque at the wrist joint and to differentiate PD rigidity from normal muscle tone. The device, thus provides a quantitative and objective measure of rigidity in PD.