Systems and methods of treating a sleep disorder of a subject include providing a therapeutic stimulation device comprising a transducer configured to emit transcutaneous vibratory output to a body part of the subject； generating physiological data with a worn sensor and providing it to a processor； providing a stimulation pattern for transcutaneous vibratory output to be emitted by the transducer comprising a perceived pitch, a perceived beat, and an intensity； causing the transducer to emit the transcutaneous vibratory output in the stimulation pattern； determining if the subject is in a pre-sleep state or a sleep state based on the physiological data； and altering the stimulation pattern based on determining the subject is in at least one of a pre-sleep state or a sleep state comprising at least one of (i) reducing a frequency of the perceived pitch, (ii) increasing an interval of the perceived beat, or (iii) reducing the intensity.
