A male prosthetic device configured to be worn on a flaccid, partially-erect or erect penis which transmits tactile sensations through a stimulation material to the surface of the penis. The device includes a prosthesis with an outer surface and in inner chamber, a microprocessor, one or more sensors and one or more stimulation materials. The outer surface is configured to appear as a penis or other elongate body with hard or soft materials, with optional stimulation materials and sensors. The inner cavity is lined with stimulation material configured to contact the surface of the penis. Sensors for detecting sensation or direction can be disposed within, on, or separate from the device transmit signals electrically or wirelessly to the microprocessor, which is programmed to generate stimulation sensations in response to signals from the sensors, stimulation materials, or controllers that are transmitted to the stimulation material.