This book delves into the application of wearable haptic feedback technology in various contexts, focusing on prosthetics for individuals with upper limb loss and navigation systems for the visually impaired. Central to the book is the development of technologies that address users' needs and demands. It highlights the pivotal role of a user-centred approach in designing and creating novel feedback mechanisms. Beginning with focus groups and experimental campaigns, each chapter introduces innovative haptic devices that are characterized, tested, and refined to consistently meet user requirements. The research culminates in the creation of a fully integrated feedback system within a prosthetic socket. This book provides comprehensive insights into developing practical, user-friendly haptic devices that significantly improve the quality of life for individuals with sensory impairments.