<p>Replacing the lost hand with a prosthetic one can restore basic movement and grasping functions, but it does not replicate the sensory functionality of the biological limb. This study addresses the challenge of restoring sensory feedback from a prosthetic limb in a manner that is perceivable and congruent with the brain’s internal motor model. Inspired by the anatomical geometry of the human upper limb, a sensory-feedback tactile display was conceptually designed to convey contact information from the prosthetic hand to the residual limb. The system is specifically engineered to replicate tactile cues from both proximal and distal phalanges, enabling the transmission of force and grip pattern information. Force and indentation data from eight discrete locations on a prosthetic hand–corresponding to key contact points across the fingers–are mapped to the upper arm. The display includes eight electromechanical actuators mounted via flexible 3D-printed armbands. A mathematical model was developed to describe the force-mapping mechanism, incorporating the viscoelastic properties of human skin. System parameters were identified through a combination of theoretical analysis and experimental testing using a preliminary prototype. Simulations were performed to explore the effects of varying key parameters on output force and displacement, yielding insights into tactile feedback performance and mechanical behavior. The results support the feasibility of localized, dynamic tactile stimulation aligned with phalangeal contact regions and grip patterns. The proposed system shows potential for enhancing the sensory experience of upper-limb prosthetic users, with further development aimed at improving real-world integration and usability.</p>