IEEE 802.15.4 based devices are a key component for mobile and pervasive computing. However, their small dimensions and reduced resources, together with the intrinsic properties of wireless communication, make it difficult to evaluate such networked systems through real-world trials. In this paper we present an emulation testbed intended for the evaluation of IEEE 802.15.4 networked systems. The testbed builds on the generic framework of the wireless network testbed QOMB, and adds IEEE 802.15.4 network, processor and sensing emulation functionality. We validated the testbed through a series of experiments carried out both through real-world trials in a smart home environment, and through emulation experiments on our testbed. Our results show that one can accurately, and in real time, execute IEEE 802.15.4 network applications on our testbed in an emulated environment that reproduces closely the real scenario.