A personal therapy device, directed generally to an elongated sexual stimulation device for female use having advanced shape motion control and shape transformation. In one embodiment, the device has a flexible outer body elongated in a longitudinal direction and a shape memory alloy (SMA) thrust actuator disposed within the flexible outer body. In another embodiment, the device includes one or more skeletal segments which are disposed within the flexible outer body and capable of deformation in various directions. In yet another embodiment, the device includes one or more rotational servo motor pair units, where each rotational servo motor of the rotational servo motor pair has an eccentric weight, and the synchronized rotation of the eccentric weight pair generates a net lateral wobbling motion. In yet another embodiment, the device includes an external positioning sensor unit, an inertial measurement unit, one or more pressure sensors, or a combination thereof.
