Abstract: A haptic feedback device (10) for a prosthetic body part (2) or a sensorially deficient body part (2?) comprises a sensor interface (12) configured to be arranged on the prosthetic or sensorially deficient body part (2,2?), equipped with a contact sensor (21) to generate a contact signal (23) according to a contact condition with an object (6); a tactile stimulation unit equipped with a transducer (13,13?) to generate a tactile stimulation (33); a support (15) wearable on a sensorially sound body part (5), on which the tactile stimulation unit is arranged, so as to receive the stimulation (33); a control unit (14) for receiving the contact signal (23) from the contact sensor (21) and comprising a program means (41) configured to cause a control signal (29) to be produced for actuating the transducer, responsive to the contact signal (23), and for cyclically comparing the contact signal (23) with a contact threshold value (Ti,j); for producing the control signal (29) and actuating the transducer (13,13?) when