In this chapter, we focus on the essential paradigm of modality matching for haptic feedback. Modality matching refers to the natural association between a sensation and the corresponding stimulus. To achieve this, we designed a vibrotactile device fully integrated into a prosthetic socket, capable of transmitting high-frequency contact information such as surface roughness and initial contact from interactions with external objects. The device features two compact planar vibrotactile actuators that are in direct contact with the user’s skin, providing tactile cues. These cues correspond to the acceleration profiles recorded by two IMUs placed on the distal phalanx of a soft under-actuated robotic prosthesis (SoftHand Pro). We characterised the system from a psychophysical perspective with fifteen able-bodied participants, measuring their Just Noticeable Difference (JND) in discriminating vibrotactile cues delivered to the index finger during the exploration of various sandpapers. Furthermore, we conducted a pilot experiment with one user of the SoftHand Pro prosthesis, implementing a task called Active Texture Identification to determine if our feedback could enhance the user’s ability to discriminate between different textures. The results indicate that the device effectively conveys contact and texture cues, which users can readily detect and distinguish.