This paper proposes an embedded tactile sensory feedback system for the upper-limb prosthesis. The feedback system delivers tactile information extracted from tactile sensors to the user through electrocutaneous stimulation. The proposed system has been tested experimentally on three healthy subjects. Results demonstrate the correct feedback of the tactile information when the subjects were able to identify the location and the contact pressure level applied to the sensor arrays with a recognition rate of 86%. The system can provide feedback with a delay of around 32 ms while consuming 300 mW opening up interesting perspectives for wearable feedback systems for prosthetics