A system and method for detecting lubrication conditions, lubrication regimes, impingement, stick-slip, and/or surface damage allows the health of a joint to be monitored. The system and method provides in situ or in vivo real-time monitoring of dynamic and static conditions of the joint. The monitoring system may use both passive and active sensing approaches that employ strategically placed piezoelectric transducers on/in the articulating components of the joint. In some embodiments, the transducers may be Lead Zirconate Titanate (PZT) transducers. Active sensing may be used to detect lubrication regimes under static and dynamic conditions. Passive sensing may be used to characterize the joint motion and abnormities, such as impingements and surface damages.