Yes, this has been a thing.
The best visual examples are women tied up completely helpless -- legs together, or latex covered -- completely inaccessible for fucking, even for finger-fucking.
That's quite hot, I suppose.
To somebody other than me.
I do enjoy tying up a woman for sex, but not instead of sex.
Sexless BDSM is one of those many things that are somebody else's OK kink but leave me cold.
So when I think of "erotic bdsm or sensual femdoms", I think of a restrained, straining, begging, aroused-out-of-her-mind woman, helplessly exposed to her captor (me), being sexually teased beyond her imagination; or of myself being so teased and aroused. The restraints are there to allow heightening the arousal, prolonging the tease, and intensifying the sexual tension and release. For me it's all ultimately about sex. But sex is not simple.
Just one man's answer to the original question, hope it helps