A percutaneous stimulation device includes (a) a plurality of electrode panels joined via hinges, wherein each electrode panel includes a substrate and an electrode mounted on the substrate, and wherein the substrate is a laminate comprising a flexible layer joined with a rigid layer on each side of the flexible layer; (b) an elongate insertion shaft to or within which the plurality of electrode panels are mounted; (c) electrically conductive wiring coupled with each electrode and extending along the insertion shaft; and (d) an actuation mechanism coupled with electrode panels and configured to extend and retract the electrode panels when actuated.