The system (1) has a piercing depth reference unit (8) providing piercing movement with a reference skin contact surface (11) in a stationary defined position with respect to a reversal point. The depth reference unit is arranged in such a manner that the skin is stabilized during pressing at the reference skin contact surface with respect to a skin deformation impinged in the skin during penetration. A force sensor measures a compressive force effected during pressing of the skin on the contact surface.
