This thesis investigates two key topics to successfully integrate a skin stretch feedback device into a transradial prosthetic system. The Rice Haptic Rocker (Rocker) is a one degree of freedom haptic device that rotates on an axis, stretching the skin to convey position information. In the first topic, the experimental assessment of the mechanical rocker design and mapping functions create steps to assess perception of users. Second, the functional efficacy of the integrated system, containing the haptic device and a prosthetic arm, is tested in two experiments showing the Rocker is useful for discriminating object sizes and identifying the presence of the cue after focusing on an unrelated task. The results of these experiments inform implentation constraints between an advanced prosthetic device and proprioceptive feedback through skin stretch. Further, the Rice Haptic Rocker can be successfully utilized as proprioceptive feedback of a prosthetic device to a human user.