The experiment aimed to test the notion that only men could have intercourse with a s3x doll because women were thought to need an emotional attachment.
A 5ft 9in silicone doll such as Gabriel costs about £5,000.
Each doll can be customised but the p3nis comes in flaccid and erect options with tests being conducted to make the p3nis warmer.
This would also stop a potential problem with the dolls' bodies often being too cold.
Karley, a s3x columnist for Vogue and Vice from New York, described the organ as very life like with real pubic hair, a hard inside and soft outer layer.
"I feel like I am on a Tinder date," she said while being shown to the doll in the VICE documentary.
"It feels weird because it is so lifelike but it enters this space which feels uncomfortable.
"It feels like a real person who can't respond to you."
She is filmed kissing the doll in her underwear and then having intercourse with it.
"It feels absolutely indistinguishable from a real person except that I am completely in control.
"You can't have this experience having s3x with a real person."
Last month, a leading expert was calling for robots to be put in care homes for the elderly to cure loneliness or be used to rehabilitate paedophiles. What’s your take on this PEOPLE?