The subject invention teaches the use of electrical stimulation of specific sensory nerves, such as the proximal urethral afferents to control urination. A wireless, injectable microstimulator may implanted into the soft tissues through which the sensory nerves pass. The sensory nerves supplying the proximal urethra are stimulated by a microstimulator implanted adjacent to the prostatic urethra within the substance of the prostate gland in males, and distal to the bladder neck in females. The activity induced in these nerves causes the spinal cord to generate reflex responses that result in contractions of the detrusor muscle and relaxation of the sphincter, emptying the bladder. The invention also includes methods of implanting and/or testing microstimulators at a target location. The invention also includes the use of sensory devices to effect the microstimulators or alert the user as to the status of the bladder.