The loss of an arm can lead to a loss in both dexterity and sensation. Sensation is critical in closing the motor control loop, making fine adjustments, and identifying object properties. However, effective sensory feedback is absent from most modern prosthetic devices. Additionally, despite the importance of sensation, the literature is sparse on how to quantify and communicate how different prosthetic arms provide their users with sensory feedback. In this dissertation, I sought to develop tools for quantifying and communicating sensation, and to apply these tools to characterize sensory feedback enabled via the stimulation of regenerative peripheral nerve interfaces (RPNIs). In Aim 1 I built a protocol for directly comparing the availability of sensory feedback between individuals using anatomical and prosthetic limbs through their interactions with a simulated object. In Aim 2 I then conducted a systematic literature review of methods of electrical stimulation for the purpose of referring sensory feedback to the phantom limb. In this aim I analyzed trends in methodologies and outcome measures. In Aim 3 I applied the findings of my literature review, characterizing RPNI-enabled sensation in four individuals with upper limb amputation. Finally, to assess the utility of RPNI-enabled sensation in an actual task, in Aim 4 I developed a virtual reality environment for testing bi-directional prosthetic function. Through these investigations, I empirically confirmed previous anecdotal evidence that sensory feedback, especially force feedback, is more available to individuals using a body-powered prostheses compared to those using myoelectric prostheses. I also determined that there is little replication of methodologies in the field of prosthetic sensation, which creates difficulties in comparing results between studies. As such, I created a set of guidelines for future research. Finally, I determined that RPNIs are capable of both providing consistent sensory feedback referred to the phantom hand, and that this sensation has the potential to improve prosthetic function. Additionally, RPNI feedback during a bi-directional task improved a participant’s perception of their phantom limb, indicating possible therapeutic benefits to RPNI sensation. These findings support previous literature on the importance of sensation for the improvement of prosthetic function and satisfaction in individuals, and encourages future research into the utility of RPNI-enabled sensation. This work also provides future researchers with several tools to guide studies focused on prosthetic sensation. Collectively, this dissertation demonstrates that RPNIs are effective interfaces for improving prosthetic sensation and function, but are still not yet capable of providing users with naturalistic sensation.