Abstract-Increasingly, trust has played a crucial role in the security of an IoT system from its inception to the end of its lifecycle. A device has to earn some level of trust even before it is authenticated for admission to the system. Furthermore, once the device is admitted to the system, it may behave maliciously over time; hence its behavior must be evaluated constantly in the form of trust to ensure the integrity of the system. Currently, no mechanism exists to establish an initial trust on a device, without prior knowledge, before its admission to an IoT system. Even when trust is applicable, trust evaluation models require direct/indirect observations over time, historical data on past encounters, or third party recommendations. However, this type of past data is not available in the first encounter between the system and the device. The question is how to establish whether a device can be trusted to a level that merits further evaluation for admission into a mobile and dynamic IoT system when it encounters the system for the first time? This paper addresses this challenge by proposing a challenge-response method and a trust assessment model to establish, without prior knowledge, the initial trust that a device places on another in a mobile and dynamic environment called personal space IoT. The initial trust is established before further interaction can take place and under the assumption that only a limited window of time is available for the trust assessment. The paper describes and evaluates the proposed model theoretically and by simulation. It also describes a practical scheme for realizing the proposed solution.