A haptic feedback device (10) for a prosthetic body part (2) or a sensorially deficient body part (2′) comprises a sensor interface (12) configured to be arranged on the prosthetic or sensorially deficient body part (2,2′), equipped with a contact sensor (21) to generate a contact signal (23) according to a contact condition with an object (6); a tactile stimulation unit equipped with a transducer (13,13′) to generate a tactile stimulation (33); a support (15) wearable on a sensorially sound body part (5), on which the tactile stimulation unit is arranged, so as to receive the stimulation (33); a control unit (14) for receiving the contact signal (23) from the contact sensor (21) and comprising a program means (41) configured to cause a control signal (29) to be produced for actuating the transducer, responsive to the contact signal (23), and for cyclically comparing the contact signal (23) with a contact threshold value (Ti,j); for producing the control signal (29) and actuating the transducer (13,13′) when the contact signal (23,23′) crosses the threshold value (Ti,j); for leaving the transducer (13,13′) still in an intermediate time between this crossing of the threshold (Ti,j) and a subsequent crossing in an opposite direction, so that the transducer (13) is actuated if an event occurs of beginning or of end of a contact between the prosthetic or sensorially deficient body part (2,2′) and the object (6).