The present disclosure provides an assembly of a sexual stimulation device that can be assembled with an interchangeable actuator module and a control module. The sexual stimulation device can be placed with user's body to provide tactile stimulation. The sexual stimulation device may store different motion data, and the user may control the sexual stimulation device according the motion data. The sexual stimulation device can also allow the user to change the interchangeable actuator module according to user's choice. Furthermore, the sexual stimulation device may access a network to download motion data for different motion data choice.