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A hyper realistic sex robot with customisable nipples, pubic hair and labia has started shipping to customers, with a starting price of $7,999 (£6,000) – and that's just for the head.

Known as Harmony, the sex robot from California-based Realbotix has been in development since 2016. It can tell jokes, talk dirty , and make realistic noises and facial expressions during sex.

The head can be used as a stand-alone product or attached to a RealDoll silicone body , which buyers can choose to customise in multiple ways.

As well as eye and hair colour, body type and skin tone, customers can choose from a range of nipple shapes and colours, labia "inserts" and pubic hair options.

The Harmony sex doll robot, owned by Brick Dollbanger
(Image: Brick Dollbanger)

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Now the company has confirmed that the first orders of the Harmony sex bot have been shipped to customers around the world.

"We have started to ship the first pre-order units of our robots to our customers," Guile Lindroth, Realbotix's AI chief, told The Sun . "Our first lot of robot heads has around 350 units."

However, he said that the Harmony robot heads are still a work in progress, with more advancements coming in version two.

"The second lot will add some new features to the head like cameras in the eyes for face and object recognition, touch sensors in the face, embedded speakers and more facial expressions," said Guile.

Brick Dollbanger is the first person to own a Harmony doll

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The Harmony robot works by connecting via Bluetooth and Wi-Fi to an artificial intelligence Android application called Harmony AI.

Anyone can download the Harmony AI app onto their smartphone, create an avatar, and start building a relationship with their virtual lover.

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Realbotix claims that Harmony AI is capable of learning its user's moods, preferences and behaviour patterns, and responding accordingly, creating an illusion of intimacy.

When a customer receives their Harmony sex robot, they can download the AI personality straight onto the droid, making it seem even more life-like.

The app controls all head animations, expressions and dialogue. A special Bluetooth speaker can be fitted to the robot's head so that she appears to be speaking.

While the RealDoll bodies are currently inanimate, Realbotix said it is working on several different sensors to increase the ways that the robot can react to the user.

These include touch sensors, accelerometers, internal heaters and fluid compartments, and even Teledildonics, which is a technology which can be used to remotely control sex toys.

"If having sex with a real woman is a ten, then a sex doll is eight, eight and a half," said a man going by the alias Brick Dollbanger, who was one of the first to test out the Harmony sex robot last year.

"I noticed she was getting very extreme expressions, like she knew what I was doing."