This dissertation presents the development and experimental evaluation of a high-resolution haptic feedback array (HRHFA) for enhanced user-perception of lower-extremity limb function. The HRHFA is comprised of a grid of miniature direct-current vibratory motors contained within a conformable, additively-manufactured harness worn on the user’s lateral forearm. A multi-dimensional control architecture was developed to convey kinematic and combined kinematic-kinesthetic sensory information associated with knee function using vibrational stimulations applied along the length of the forearm. Experimental results of the HRHFA with subjects performing level-walking gait demonstrated the ability to enable statistically significant improvements in stride and cadence reproduction, and without the need for collocating the HRHFA with the ipsilateral lower limb. Building upon these results, follow-on experimental evaluations of the HRHFA were conducted for trajectory control of a myoelectric, powered-knee transfemoral prosthesis. When compared with nominal tracking performance (i.e., myoelectric control of the prosthesis with only visual feedback of knee motion), tracking performance with haptic feedback of knee motion using the HRHFA showed significant improvements in tracking error and repeatability, with concomitant reductions in learning times.