An effective method of communicating sensory feedback for prosthetics is presented using a combination of mechanical pressure and skin stretch, resulting in a mixture of normal and shear force being applied to the human arm. Stimulations were induced on the subject's forearm by three mechanical cranks, each attached to their own servo motor. Three different crank orientations were tested, each producing a different skin stretch direction, with the results showing that shear force/tangential skin stretch applied longitudinally to the forearm was perceived more easily as it produced the best recognition rate. With minimal training, eighteen able-bodied test subjects were able to recognise six different grips with an accuracy of up to 88%, and achieved an accuracy of 80% when recognising the six grips at two different pressure levels. This sensory feedback mechanism shows potential for a simple, easy to learn stimulation device that could help improve users control and embodiment of their prosthetic device that requires three separate feedback channels.