Sexual stimulation devices

A sexual stimulation device comprising:

• a housing with a base and a robotic arm, said robotic arm movable in three pairs of orthogonal and perpendicular axes;
• two sets of linear rails, each set of said two sets of linear rails being parallel to one another;
• an upper set of said two sets of linear rails;
• and a lower set of said two sets of linear rails;
• configured such that said robotic arm has three degrees of freedom configured to cause reciprocating movement of said robotic arm in each of said three pairs of orthogonal and perpendicular axes simultaneously and circular movement of said robotic arm by combining movement in at least two degrees of freedom of said three degrees of freedom, said robotic arm extending out from said housing through an opening;
• wherein said device is configured such that yaw rotation is combined with said reciprocating movement by alternating two linear actuators, with one actuator fully stopped while the other pushes and pulls, alternatingly.