Yes that's my understanding.
There is a pump in one of the 'testicles' that you squeeze repeatedly to pump the penis up.
Although, and this was a few years ago so it might have changed, one of the options I saw was that you have some kind of rod in the penis permanently, so you have a permanent 'erection'.
I mean, I read it at the time, and thought it was bizarre.
But now, with the benefit of a few years in between it sounds utterly unhinged. But if it's true, a rape would not be out of the question