They could be called sex robots. I imagine that they would be designed to be far more diverse in their capabilities than human beings, since they would have to start off by competing with them. As a result, they would eventually change the expectations of recreational sex that people have traditionally had, and would be safer sex, since clearly the owner/operator could be sued for injuries or diseases contracted from them, as humans cannot be. They could easily be made to flex and bend in ways that humans cannot, and one could write several volumes more to the Kama Sutra to show all the new positions.
Like birth control pills, it will change the nature of recreational sex for everyone.
The Holy Mother Church would clearly oppose sex robots, because of the sin of Onanism and such, but just as most people ignore the Church on BC pills, they will ignore the Church on this.