A stimulation device comprising a main housing comprising a vibration generator, a battery, a wireless transceiver, and at least one control circuit operatively connected to the vibration generator, the battery, and the wireless transceiver, the main housing shaped for entering a body orifice; and a flexible antenna extending from the main housing at a bottom end thereof for remaining at least partially outside the body when the main housing is inside the body, the flexible antenna operatively connected to the wireless transceiver for receiving control signals for controlling operation of the vibration generator.