One approach to restoring sensorimotor function in amputees or tetraplegic patients consists in equipping them with anthropomorphic robotic arms that are interfaced directly with the nervous system. To control these arms, not only must motor intention be translated into movements of the limb, but sensory signals must be transmitted from the limb to the patient. Indeed, without these signals, controlling the arm is very slow, clumsy, and effortful. With this in mind, we develop approaches to convey meaningful and naturalistic sensations through stimulation of peripheral or cortical neurons, attempting to reproduce, to the extent possible, the patterns of neuronal activation that are relevant for basic object interactions. We anticipate that these studies will constitute an important step towards restoring the sense of touch to those who have lost it.