Some of the first sex dolls were invented by Dutch sailors in the seventeenth century who would be isolated at sea during long voyages. These masturbatory dolls, referred to by the French as dame de voyage and by the Spanish as dama de viaje, were made of sewn cloth or old clothes and were a direct predecessor to today's sex dolls. The Dutch sold some of these dolls to Japanese people during the Rangaku period, and the term "Dutch wives" is still sometimes used in Japan to refer to sex dolls.[1][2]
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The middle market and high-end market emerged in the USA around 1992. The market has grown for two main reasons. Firstly, the last twenty years have seen huge improvements over earlier types of sex dolls, and customers come to realize this through using the web. Secondly, the method of retail purchase has also improved, now showing customers what the actual doll, seams, hair, and even orifices look like.
Now, TPE stands for thermoplastic elastomer, which is essentially a mixture of polyvinyl chloride and silicone. This is a type of skin that is very soft, and it mimics the feeling of human skin. TPE is way more realistic in feeling and it definitely mimics the feeling of human skin. It also is much cheaper than silicone alternatives, sometimes even hundreds of dollars cheaper. TPE also allows you to move the doll around in various ways, since it has more flexibility. TPE dolls don’t really need to be bathed, but you can, just be mindful of the water. It also is hypoallergenic as well. 
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