The present invention is a physiological measurement and stimulation device that can autonomously adapt its actuation output behavior based on acquired data in the form of biofeedback sensory measurements. When operating the invention, the user can place the device on the body at the intended area of operation, at which time the physiological measurements sensors can initiate data collection. Either prior to or following this time, the actuator can be activated and controlled manually and/or autonomously per a command signal generated by the control system. The operation of the present invention can be continued until the invention detects that a predetermined threshold has been reached. When the invention is used as a sexual stimulation device, the predetermined threshold can be physiological data corresponding to various stages of arousal or orgasm.