In this work we present test methods, devices, and preliminary results for the mechanical characterization of the small bowel for intraluminal mobility. Both active and passive forces that affect mobility are investigated. The active forces are generated by the migrating motor complex and the movement of muscular organs within and surrounding the peritoneal cavity. Passive forces develop from the biomechanical response of the tissue, the tribology of the mucosa, mucoadhesion, and the orientation and mass of surrounding tissue. Four investigative devices and testing methods to characterize the active and passive forces are presented in this work. These are: 1) A novel manometer and a force sensor array that measure forces generated by the migrating motor complex; 2) A biaxial test apparatus and method for characterizing the biomechanical properties of the duodenum, jejunum, and ileum; 3) A novel in vitro protocol and device designed to measure the force required to overcome mucoadhesion; 4) A novel tribometer that measures in vivo coefficient of friction between the mucus membrane and the robot surface.