A non-therapeutic method for providing physiological stimulation, comprising: (a) receiving, at a computing device, sensory data associated with at least an action of a first user from a sensor and past data of the first user received at the computing device; (b) receiving, at the computing device, a user setting; (c) determining, at the computing device, a parameter based on the user setting; (d) generating, at the computing device, a command signal based on the sensory data and a command signal classifier that uses the parameter and past data of the first user; (e) sending, at the computing device, the command signal to an actuator, wherein the command signal is used to control motions of the actuator; (f) receiving, at the computing device, updated sensory data from the sensor based on the motion of the actuator; and (g) determining, at the computing device, whether the updated sensory data have reached a predetermined threshold, and if the sensory data have not reached the predetermined threshold: dynamically updating the parameter used by the command signal classifier in response to the updated sensory data received in step (f); generating, at the computing device, an updated command signal based on the updated sensory data and the command signal classifier; sending, at the computing device, the updated command signal to the actuator, wherein the updated command signal is used to control motions of the actuator, and repeating, at the computing device, steps (f) to (g) until the updated sensory data have reached the predetermined threshold. (a) receiving, at a computing device, sensory data associated with at least an action of a first user from a sensor and past data of the first user received at the computing device; (b) receiving, at the computing device, a user setting; (c) determining, at the computing device, a parameter based on the user setting; (d) generating, at the computing device, a command signal based on the sensory data and a command signal classifier that uses the parameter and past data of the first user; (e) sending, at the computing device, the command signal to an actuator, wherein the command signal is used to control motions of the actuator; (f) receiving, at the computing device, updated sensory data from the sensor based on the motion of the actuator; and (g) determining, at the computing device, whether the updated sensory data have reached a predetermined threshold, and if the sensory data have not reached the predetermined threshold: dynamically updating the parameter used by the command signal classifier in response to the updated sensory data received in step (f); generating, at the computing device, an updated command signal based on the updated sensory data and the command signal classifier; sending, at the computing device, the updated command signal to the actuator, wherein the updated command signal is used to control motions of the actuator, and repeating, at the computing device, steps (f) to (g) until the updated sensory data have reached the predetermined threshold. dynamically updating the parameter used by the command signal classifier in response to the updated sensory data received in step (f); generating, at the computing device, an updated command signal based on the updated sensory data and the command signal classifier; sending, at the computing device, the updated command signal to the actuator, wherein the updated command signal is used to control motions of the actuator, and repeating, at the computing device, steps (f) to (g) until the updated sensory data have reached the predetermined threshold.