The first character doll was invented by Spanish and French sailors while sailing. When they were isolated by the ocean, a sex doll was created. They called it a sexual partner because they believed that sex dolls could not only satisfy their sexual needs physically but also ease their loneliness emotionally.https://www.uusexdoll.com/
The wheel of time comes to the 17th century. One dutch sailor researched the technology to improve the sex doll. He made a cloth-based masturbation doll by hand-sewing and repairing it.