An electrical stimulation therapy system comprising: an implantable medical device; and a patient programmer comprising: a user interface configured to: display a plurality of different stimulation sensations, wherein each stimulation sensation is associated with a respective set of therapy parameter values, each therapy parameter value of the set representing at least one therapy parameter, the set of therapy parameter values representing a plurality of therapy parameters; wherein the plurality of different stimulation sensations includes at least one pressure sensation; and receive user input that represents a selection of a stimulation sensation from among the plurality of different stimulation sensations; and a processor configured to: in response to the user input, select the respective set of therapy parameter values to control the implantable medical device to deliver stimulation configured to induce the selected stimulation sensation; wherein each respective set of therapy parameter values includes a first therapy parameter value that defines a respective, periodically-repeating modulation envelope, wherein the implantable medical device modulates a second therapy parameter value of the pulses in the modulation envelope, and wherein the first and second therapy parameter values comprise at least one of pulse amplitude, pulse width, interpulse interval, or interburst interval; and wherein the patient programmer is further configured to transmit the selected set of therapy parameter values to the implantable medical device to control the implantable medical device to induce the selected stimulation sensation. an implantable medical device; and a patient programmer comprising: a user interface configured to: display a plurality of different stimulation sensations, wherein each stimulation sensation is associated with a respective set of therapy parameter values, each therapy parameter value of the set representing at least one therapy parameter, the set of therapy parameter values representing a plurality of therapy parameters; wherein the plurality of different stimulation sensations includes at least one pressure sensation; and receive user input that represents a selection of a stimulation sensation from among the plurality of different stimulation sensations; and a processor configured to: in response to the user input, select the respective set of therapy parameter values to control the implantable medical device to deliver stimulation configured to induce the selected stimulation sensation; display a plurality of different stimulation sensations, wherein each stimulation sensation is associated with a respective set of therapy parameter values, each therapy parameter value of the set representing at least one therapy parameter, the set of therapy parameter values representing a plurality of therapy parameters; wherein the plurality of different stimulation sensations includes at least one pressure sensation; and receive user input that represents a selection of a stimulation sensation from among the plurality of different stimulation sensations; and a processor configured to: in response to the user input, select the respective set of therapy parameter values to control the implantable medical device to deliver stimulation configured to induce the selected stimulation sensation; in response to the user input, select the respective set of therapy parameter values to control the implantable medical device to deliver stimulation configured to induce the selected stimulation sensation;