There are dildo adapters for the Handy though I don’t know if one Handy provides sufficient torque. See These topics by @dimnogro
https://discuss.eroscripts.com/t/how-to-setup-your-handy-for-dildo/43400
https://discuss.eroscripts.com/t/turn-your-handy-into-an-incredible-fucking-machine-dildo-in-a-weekend/107805
Also try to filter with “Target Anatomy” on IoSTIndex.
https://iostindex.com/
There is also this vac-u-lock attachment for the OSR2 and this video of it is by soritesparadox:
https://www.thingiverse.com/thing:4917900
https://drive.google.com/file/d/1M5hwmNqaqZcH9zp0Klp6rKbwP5uzz1GU/view
There are also some solid open source fuck machines if you are okay with DIY:
https://github.com/theelims/FuckIO