This study investigates two different actuator technologies, namely piezoelectric and linear resonant actuators (LRA), for delivering haptic feedback in upper-limb prosthetic devices. A dual-phase experimental protocol was conducted: the first phase aimed to identify optimal actuator placement on the user’s body and within a prosthetic socket, while the second phase examined human sensitivity to more complex haptic patterns. The experiments involve both direct skin contact and integration into a rigid prosthetic structure, exemplified by the Adam’s Hand developed by BionIT Labs. Results indicate that LRAs provide better spatial resolution and vibration propagation, particularly when placed near typical electrode sites. In contrast, piezoelectric actuators, while more energy-efficient and precise, produce weaker sensations, limiting user perception. Furthermore, the study indicates that humans struggle to distinguish intricate vibration patterns, highlighting the need for simple, intuitive feedback strategies to avoid excessive cognitive load. These findings inform the design of more effective and user-friendly haptic systems for prosthetic applications.