If we’re talking about emotional feels, not really. AI systems in sex robots have been far from the levels of sophistication of AI that have caused scientists and philosophers to consider whether they are ‘conscious’. When it comes to replicating how human skin feels and reacts, technological breakthroughs could be closer. CySkin, an artificially intelligent skin-type system unveiled widely to the public around 2017, connects ‘skin’ modules to a system replicating a nervous system, allowing it to react to touch.  In December 2020 Cornell University scientists unveiled ShadowSense: a low-cost system based on robots with USB cameras detecting shadow movements on a “social” robot’s body area. “Soft robots may not be in touch with human feelings, but they are getting better at feeling human touch,” reported the Cornell Chronicle. Technology such as this has the potential to improve sex robot interaction drastically. Currently, though, sex robot touch reactions are basic. RealDoll's McMullen has said that "more-lifelike genitalia isn’t far behind touch sensors, heating, self-lubrication, vibration”.