Prototyping embedded systems for vibrodrivers monitoring. The following thesis concerns the development of an embedded system for the monitoring of vibratory hammers during different working conditions, in order to ensure the proper maintenance of the machine and avoid catastrophic failures. The work has been conducted in collaboration with PTC Fayat Group, which is an international company specialised in the design and manufacturing of pile driving and soil improvement equipment. The first part of the thesis regards the general description of vibrodrivers, by outlining its working principle, and the definition of the twin virtual model, with particular attention to the contact models used to describe the interaction between the machine and the ground.