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We have imagined a novel sensory system that could fill the gap by changing this paradigm: the Distributed Ultrasound Robotic Imaging (DURI). Instead of relying on discrete surface tactile sensors, we will include the sensors below the surface of the PL by building a distributed network of ultrasound transducers embedded within the material of the PL. Using a limited number of sensors it will be possible to obtain not only surface touch across the PL, but also its proprioception. Moreover, by tuning sensors ultrasound frequencies, we will be able to provide higher touch resolution on sensitive areas like fingertips with high-frequency transducers, while, for larger volumes, low-frequency ones will probe deeper layers. Our hypothesis is twofold: first, that it is possible to extract meaningful information on surface contact and structural deformation from ultrasound signals; and second, that users can learn to interpret these signals when translated into vibrational feedback. This would allow them to "feel" their prosthesis in real time. To test this, we will build a prototype PL featuring a rigid but lightweight internal skeleton actuated by electromyographic signals. This skeleton will be encased in a soft, sonoconductive, biocompatible material, inside which the ultrasound transducers will be embedded. The core of our project, the DURI system, will collect real-time data, which will be translated into feedback delivered via a vibrotactile matrix at the limb interface, enabling the user to perceive both contact and limb space-configuration. This innovation is made possible by the highly interdisciplinary nature of the consortium, bringing together expertise in physics, material science, biomedicine, informatics, and mechanical engineering. This natively brings the technology to apply in several adjacent fields, including enabling full-environment sensing Human Digital Twins, enhancing human capabilities in hazardous industrial settings and in agricultural robotics. Indeed, in the context of autonomous systems, contact-sensitive grippers are fundamental enablers of closed-loop control, as they provide the tactile feedback necessary to modulate interaction forces with delicate targets. Given the potential of the technology that we present here, we strongly believe this will be the first step towards a broader technological revolution in prosthetics and robotics: a bridge filling the gap between human and machine in an unconventional way.