关键词：超声振动;挤压膜效应;摩擦调控;触觉再现;长短期记忆（LSTM）神经网络中图分类号：TH113.1;TP273DOI：10.3969/j.issn.1004-132X.2025.11.012

Abstract： Using the mechanism that modulating sliding fricti（试读）...