Abstract: A device, system and method of treating lack of intimacy in a patient is described, incorporating a penile stimulation device worn by the patient, optionally operated by a remote caregiver or device, such a software treatment regimen or a video game. The device provides mechanical linear motion of a driven penile sleeve, external to the body of the device, adjustably fitted to a patient. A caregiver or remote device connects to a desired patient device, via a server, solely by the use of a unique connection key, without the use of personal identifying information. An open interface, such as an API or framework, provides for third party applications, such as treatment software, a video game or voice control. Connectivity options include one-to-many. Mechanical motion of the control device may control motion of the patient device, or vice-versa.