Upper-limb prosthetic devices are an important tool in restoring functional ability following amputation. To meet user needs for better control and articulation, many electrically powered and digitally controlled systems have been developed to expand the capabilities of these devices. As these systems become more complex and integrate more actuation and sensing capabilities, there is an increasing need for suitable feedback mechanisms to improve user control and embodiment. Multisensory haptics, which combines multiple channels of tactile feedback, is one promising avenue by which this control loop can be accomplished. However, research in multisensory wearable devices has shown a number of factors that may complicate their usage, primarily in regards to user difficulty in perceiving simultaneously presented haptic cues. To assess and address these concerns, a test system for multisensory devices was constructed and experiments were performed to examine discrete and continuous multisensory cue perception. This thesis presents this experimental process, as well as the implications of these psychophysical factors and of prosthesis feedback in general for the design of multisensory haptic feedback for prosthetic applications.