Stimulate means to act as a stimulus to; stimulus means something that rouses the recipient to activity; stimuli is the plural of stimulus.
There are also sensory receptors in the muscles, joints, digestive tract, and membranes around organs such as the brain, the abdominal cavity, the bladder and the prostate (providing one source of sexual stimulation). Stimulation to the external or internal senses may evoke involuntary activity or guide intentions in action. Such emotional or motivating stimulation typically is also experienced subjectively (enters awareness, is in consciousness). Perception can be regarded as conceptualised stimulation, used in reasoning and intending, for example. When bodily stimulation is perceived it is traditionally called a sensation, such as a kind of touch or a taste or smell, or a painful or pleasurable sensation.