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"

For any wondering, that book is also available on internet archive.

https://archive.org/details/robotsexsocialet0000unse