A system and method for transferring proprioceptive and/or sensory information from a prosthesis (37, 471) or from a sensing system (472) disposed at a body part having poor or no sensation, to the skin of a user wearing such prosthesis or sensing system. The system comprises: a device (10, 30, 40) for providing electrotactile feedback in the form of an electrical stimulation pattern with coding scheme for at least one input signal (14, 141, 142, 341, 441)； and at least one multi-pad electrode (13, 33, 43, 53, 63) configured to be positioned on a part of the body of said user, said multi-pad electrode (13, 33, 43, 53, 63) comprising a plurality of pads configured to be selectively and discretely activated/deactivated according to said predefined stimulation pattern.
