JeffBSLR On paper the technology to do extremely complex fabric movements/contractions already exists. In practice it's still not possible to fabricate it on a level that is useable for something like a sextoy.
google stuff like
Artificial Muscles
artificial living tissue
Programmable fabric
printable synthetic muscle
living tissue robotics
Bio-hybrid robotics
body heat powered fabric
There's a video I'd like to show but I can't seem to find it right away.