Upper limb amputations severely impact individuals' quality of life, affecting physical functioning, mobility, and proprioception. Traditional and affordable prosthetic devices often lack sensory feedback, leading to difficulties in use and prosthesis rejection. This article explores the development of a power-autonomous, solid-state haptic feedback prosthetic system based on dielectric elastomers (DEs). The soft devices detect mechanical pressure and convert the signal into actuator vibration, delivered to existing, innervated anatomical parts that relay the signal to the user's brain. Integrating capacitive DE-based pressure sensors with DEA-based vibrotactile armbands offers a potential solution to restore sensory feedback, enabling users to perceive touch and regain enhanced perception of the environment. The proposed system addresses challenges in energy consumption and device autonomy. Detailed fabrication methods are provided for the actuators, sensors and the power autonomous integration system that enables joint operation. Characterization studies demonstrate the system's effectiveness, and a user study confirms its potential for frequency discrimination and strength perception. This innovative approach using DE-based technology presents a promising avenue for enhancing upper limb prosthetics and improving the quality of life for amputees.