Machine sex and other stories by Candas Jane Dorsey - https://archive.org/details/machinesexothers0000dors/page/76...

If we're doing book recommendations, I quite recommend the essays in https://academic.oup.com/mit-press-scholarship-online/book/1... and particularly the philosophical discussion there of whether "robot sex" is an oxymoron, as a robot almost by definition cannot dissent, so it might only be "robot-assisted masturbation"