This work presents the realization of a compact and embedded impedance-based sensor system for the characterization of lithium-ion batteries by means of electrical impedance spectroscopy (EIS). The analog magnitude-ratio and phase-difference detection (MRPDD) method is implemented and extended through a generalized formulation that models the shunt element as a frequency-dependent impedance and compensates the parasitic contributions of the printed circuit board. This reformulation corrects magnitude and phase errors introduced by the measurement hardware without increasing the overall complexity. The prototype comprises two main functional blocks: current-mode excitation and voltage-mode measurement. The excitation stage uses an operational transconductance amplifier and a power MOSFET to generate a voltage-controlled current source, whereas the sinusoidal voltage signal is generated by means of a direct digital synthesizer. The measurement chain relies on differential acquisition using instrumentation amplifiers and analog magnitude/phase detection based on the AD8302 vector detector under microcontroller control. The proposed method has been first validated by simulations using both a linear RC equivalent model and an extended Randles-type battery-equivalent model, and then experimentally characterized using a linear RC equivalent model of the device under test. Measurements show that the generalized formulation recovers the ideal impedance response in the presence of parasitic effects, both in the shunt device and in the printed circuit board. In the experimental validation with the RC model, a magnitude error of 1.65% is obtained at 1 kHz, which is adopted as the upper frequency limit for battery characterization, even though operation up to 10 kHz is possible. Phase measurements revealed that the input capacitive coupling of the vector detector, conceived for operation in the RF range, requires an adaptation for appropriate operation in the intended frequency range. The prototype has been also applied to the characterization of a commercial lithium-ion 18650 cell, enabling the measurement of battery impedance and the analysis of its dependence on the state-of-charge and on the discharge current.