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The Tantus Feeldoe is the original patented strapless strap-on. 

The giver uses their PC muscles to hold the bulb end in place. The shaft end of the dildo then comes up at a natural angle,
allowing sensual, skin-on-skin penetration of a partner.
The Tantus Feeldoe is also great for solo play and the bulb makes a wonderfully ergonomic handle to hold and thrust with.