Lower-limb sensory loss as a result of peripheral neuropathy or amputation results in sub-optimal movement and an increased incidence of injury. While the adoption of lower-limb prostheses and therapeutic footwear can reduce tissue injury and support movement, the fundamental problem of sensory loss continues to exist. A prototype haptic feedback system has been developed to aid in the recovery of lower-limb sensation due to these causes. Thin-film force sensors placed at the critical points for gait and balance functions collect essential force data, which is delivered to the user via pneumatically controlled balloon inflation. It is postulated that the use of this system will increase the tactile awareness of a patient's lower-limb or prosthesis, and when used in concert with modern rehabilitation techniques will create a method that will reduce the duration and improve the quality of lower-limb rehabilitation, especially in gait and balance functions.