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1870, from in- (2) "in" + Latin nervus (see nerve) + -ate. Probably rather a back-formation from innervation (1832). Related: Innervated. Innervation in psychology is from 1880.
innervate in·ner·vate (ĭ-nûr'vāt', ĭn'ər-)v. in·ner·vat·ed, in·ner·vat·ing, in·ner·vates
To supply an organ or a body part with nerves.
To stimulate a nerve, muscle, or body part to action.