This work introduces an enhanced version of the wearable haptic device, Clenching Upper-Limb Force Feedback (CUFF). This new design offers a smaller and more efficient device capable of delivering both skin stretch and grasping force feedback to the user’s arm, making it highly suitable for prosthetic applications. In our research, we conducted thorough physical and perceptual tests with eleven able-bodied participants and carried out two key experiments involving a total of 32 participants. The CUFF device was used alongside the Pisa/IIT SoftHand robotic hand in both experiments. The first experiment focused on a discrimination task where participants differentiated between pairs of cylinders based on their size and perceived softness. In the second experiment, participants used the robotic hand to grasp various objects. After these tasks, participants provided feedback on their experiences with the device. The results from these experiments, along with participants’ subjective evaluations, highlighted the effectiveness of the CUFF device. Thanks to its versatile design and functionality, this device shows great promise for a wide range of applications, including teleoperation, guidance, rehabilitation, and prosthetics.