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Much of the inspiration for creating the modern sex doll came from mannequin-based art created by Man Ray and Salvador Dali.
Man Ray claimed that surrealists, including himself and Dali, infused their work with eroticism and personally "violated" their mannequins.
She further argues that only when interacting with another human can we experience our humanity and our identity, as opposed to interacting with a robot.
The sex robots that have been created, as of 2018, primarily resemble women with exaggerated characteristics.
Sharkey warns that this could be "problematic" in terms of sex dolls resembling children.
The realism of sex robots greatly accelerated in the late 1990s.In 1997, Matt Mc Mullen began constructing lifelike, tin-cure silicon mannequins called Real Dolls that were ‘realistic, posable, and life-sized’.Mc Mullen received much criticism about the anatomical correctness of his mannequins; using this as motivation to create a more enhanced version. The sex robot has evolved from sex doll precursors that stem back as far as the 17th century, during which Dutch sailors created hand sewn masturbation puppets made of cloth, leather, and old clothes.Many scholars consider this creation to be the direct predecessor of modern sex dolls.
These sex dolls were inflatable with air; consisting of penetration areas at the mouth, vagina, and anus.