Upper limb prostheses have seen remarkable progress in mechanical and electronic design. However, sensory feedback remains largely absent in commercial devices. This work presents the design and development of a configurable current-based electroestimulador for non-invasive tactile feedback, intended for integration into commercial prostheses. The system uses transcutaneous electrical stimulation aimed at cutaneous mechanoreceptors in the residual limb, offering an intuitive and safe method to restore tactile sensation. Tests on simulated loads and a healthy subject demonstrated the system’s feasibility, laying the groundwork for future clinical trials.