Science fiction films such as Blade Runner (1982), Lars and the Real Girl (2007) and Her (2013) explore the advent of human-machine relationships. And in recent years, reality has met fiction. Powered by advancements in artificial intelligence (AI) and social robotics, artificial social agents are learning to communicate, learn and socialize, transforming our societies. Yet research on human-machine interaction is still in its early stages, particularly in the areas of intimacy and sexuality. In addition to our research on the topic, we have also been involved in spearheading initiatives to remedy the lack of knowledge on intimate human-machine relationships.