A transcutaneous device (100, 700) for treating tremor in a patient, the device comprising: a control unit; a first peripheral nerve effector, comprising at least one stimulation electrode configured to be positioned to modulate a first afferent nerve pathway; a second peripheral nerve effector, comprising at least one stimulation electrode and configured to be positioned to modulate a second afferent nerve pathway; and at least one sensor configured to measure movement of the patient's extremity to characterize one or more features of the tremor, the one or more features of the tremor selected from the group consisting of tremor frequency and tremor period; wherein the control unit comprises a processor and a memory for storing instructions that, when executed by the processor, cause the device to: measure the movement of the patient's extremity to generate motion data; determine one or more of a tremor frequency and period based on an analysis of the motion data; set one or more parameters of a first electrical stimulus based on one or more of the tremor frequency or period; deliver the first electrical stimulus to a first afferent nerve through the first peripheral nerve effector to reduce tremor in the patient's extremity; and deliver a second electrical stimulus offset in time from the first electrical stimulus to a second afferent nerve through the second peripheral nerve effector by a predetermined fraction of the tremor period selected from the group consisting of: one half of the tremor period, one quarter of the tremor period, and three fourths of the tremor period. a control unit; a first peripheral nerve effector, comprising at least one stimulation electrode configured to be positioned to modulate a first afferent nerve pathway; a second peripheral nerve effector, comprising at least one stimulation electrode and configured to be positioned to modulate a second afferent nerve pathway; and at least one sensor configured to measure movement of the patient's extremity to characterize one or more features of the tremor, the one or more features of the tremor selected from the group consisting of tremor frequency and tremor period; wherein the control unit comprises a processor and a memory for storing instructions that, when executed by the processor, cause the device to: measure the movement of the patient's extremity to generate motion data; determine one or more of a tremor frequency and period based on an analysis of the motion data; set one or more parameters of a first electrical stimulus based on one or more of the tremor frequency or period; deliver the first electrical stimulus to a first afferent nerve through the first peripheral nerve effector to reduce tremor in the patient's extremity; and deliver a second electrical stimulus offset in time from the first electrical stimulus to a second afferent nerve through the second peripheral nerve effector by a predetermined fraction of the tremor period selected from the group consisting of: one half of the tremor period, one quarter of the tremor period, and three fourths of the tremor period. measure the movement of the patient's extremity to generate motion data; determine one or more of a tremor frequency and period based on an analysis of the motion data; set one or more parameters of a first electrical stimulus based on one or more of the tremor frequency or period; deliver the first electrical stimulus to a first afferent nerve through the first peripheral nerve effector to reduce tremor in the patient's extremity; and deliver a second electrical stimulus offset in time from the first electrical stimulus to a second afferent nerve through the second peripheral nerve effector by a predetermined fraction of the tremor period selected from the group consisting of: one half of the tremor period, one quarter of the tremor period, and three fourths of the tremor period.