A sexual stimulation device comprising: an elastic body (100, 440, 540, 615, 809) comprising a distal end, a proximal end, a body length along a longitudinal axis (405, 1406), and a hollow bore (470, 580, 620a, 620b) extending from said proximal end along said longitudinal axis of said elastic body for at least a projection distance of less than 50% of said body length, wherein said elastic body is configured to exhibit mechanical resonance at a resonant frequency below 400Hz that corresponds to a transverse mode of vibration of said elastic body, and said elastic body is configured for at least internal stimulation of a human sexual orifice; a rotary voice-coil actuator (410, 510, 700, 808, 900, 1000, 1100, 1200, 1300, 1400) abutting said elastic body at said proximal end so as to facilitate said elastic body to resonate in said transverse mode of vibration in response to an input current, said rotary voice-coil actuator comprising: a transverse pivot that is oriented perpendicular to said longitudinal axis; a rotor arm that pivots about said transverse pivot and projects through said hollow bore for said projection distance so as to mechanically couple a distal end of said rotor arm with an internal drive surface of said hollow bore; and a magnetic assembly that is coupled with a proximal end of said rotor arm so as to generate, in response to said input current, an oscillating force that is perpendicular to said longitudinal axis and proportional to said input current, said oscillating force being imparted into said elastic body via said distal end of said rotor arm and said internal drive surface; a controller configured to obtain, generate, and/or process an input signal; and a power amplifier that is electrically coupled to said rotary voice-coil actuator, operationally coupled to said controller, and configured to generate said input current according to said input signal. an elastic body (100, 440, 540, 615, 809) comprising a distal end, a proximal end, a body length along a longitudinal axis (405, 1406), and a hollow bore (470, 580, 620a, 620b) extending from said proximal end along said longitudinal axis of said elastic body for at least a projection distance of less than 50% of said body length, wherein said elastic body is configured to exhibit mechanical resonance at a resonant frequency below 400Hz that corresponds to a transverse mode of vibration of said elastic body, and said elastic body is configured for at least internal stimulation of a human sexual orifice; a rotary voice-coil actuator (410, 510, 700, 808, 900, 1000, 1100, 1200, 1300, 1400) abutting said elastic body at said proximal end so as to facilitate said elastic body to resonate in said transverse mode of vibration in response to an input current, said rotary voice-coil actuator comprising: a transverse pivot that is oriented perpendicular to said longitudinal axis; a rotor arm that pivots about said transverse pivot and projects through said hollow bore for said projection distance so as to mechanically couple a distal end of said rotor arm with an internal drive surface of said hollow bore; and a magnetic assembly that is coupled with a proximal end of said rotor arm so as to generate, in response to said input current, an oscillating force that is perpendicular to said longitudinal axis and proportional to said input current, said oscillating force being imparted into said elastic body via said distal end of said rotor arm and said internal drive surface; a transverse pivot that is oriented perpendicular to said longitudinal axis; a rotor arm that pivots about said transverse pivot and projects through said hollow bore for said projection distance so as to mechanically couple a distal end of said rotor arm with an internal drive surface of said hollow bore; and a magnetic assembly that is coupled with a proximal end of said rotor arm so as to generate, in response to said input current, an oscillating force that is perpendicular to said longitudinal axis and proportional to said input current, said oscillating force being imparted into said elastic body via said distal end of said rotor arm and said internal drive surface; a controller configured to obtain, generate, and/or process an input signal; and a power amplifier that is electrically coupled to said rotary voice-coil actuator, operationally coupled to said controller, and configured to generate said input current according to said input signal.