Advances in the cold war bimbo programs included tactile feedback, like this German design which added sensors throughout the skin of the bimbos.

These first units often had calibration issues and required heavy rubber uniforms to avoid sensory overload.  This particular model never managed to get fully calibrated and seldom was seen without it touching itself whenever possible.

Of course, these units were highly prized in some circles, as with very limited physical contact they would provide a robust audio response.  With more, vigorous, contact, their cries of pleasure could be heard from far and wide and often required specially designed room to keep them in.