Abstract: Devices, systems and methods are provided to modulate portions of neural tissue of the nervous system, such as portions of the central nervous system or portions of the peripheral nervous system. In some embodiments, the systems and devices of the present invention are used to stimulate one or more dorsal root ganglia, dorsal roots, dorsal root entry zones, or portions thereof, while minimizing or excluding undesired stimulation of other tissues, such as surrounding or nearby tissues, ventral root and portions of the anatomy associated with body regions which are not targeted for treatment. In other embodiments, the systems and devices are used to stimulate portions of the peripheral nervous system. In some embodiments, the modulation generates a massaging sensation, particularly when stimulating neural tissue on particular spinal levels, such as L2 or L3.