Hello thanks for asking from HCM for your health related queries I can understand your concern. You have underwent the semen analysis and it came normal so I don t think there is any problem if we consider fertility. You have poor erection and stress is aggravating the problem so most likely the symptoms are occurring due to erectile dysfunction. In erectile dysfunction first thing that should be done is to spend more and more time in foreplay. Individuals who spend increased time in foreplay feel improvement in erection with time. Try to talk to your wife and relax yourself. Talking clearly about the problem increases the confidence and this also helps in achieving good erection. If symptoms persist then visit a psychiatrist. In erectile dysfunction medicines like PDE-5 inhibitor drugs as Sildenafil, Tadalafil etc are commonly used. These medicines help to improve erection and result in reduction of depressive symptoms. Please visit a psychiatrist for detailed prescription. Take care