A slip sensation simulation apparatus, comprising a base, a first simulation assembly, and a second simulation assembly; the first simulation assembly and the second simulation assembly being provided on the base; wherein the first simulation assembly comprises a first synchronous belt, two first synchronous wheels, and a first motor, the first synchronous belt being sleeved on the two first synchronous wheels, and the first motor being in a transmission connection with one of the two first synchronous wheels, to drive the two first synchronous wheels and the first synchronous belt to rotate; wherein the second simulation assembly comprises a second synchronous belt, two second synchronous wheels, and a second motor, the second synchronous belt being sleeved on the two second synchronous wheels, and the second motor being in a transmission connection with one of the two second synchronous wheels, to drive the two second synchronous wheels and the second synchronous belt to rotate; and wherein the first synchronous belt is located at an inner side of the second synchronous belt, an outer surface of at least one flat portion of the first synchronous belt being in contact with an inner surface of a flat portion of the second synchronous belt, and a rotational axial direction of the first synchronous belt being different from a rotational axial direction of the second synchronous belt; characterized in that the base comprises a bottom plate, two outer plates, and two inner plates; the two outer plates are provided parallel and opposite to each other and both fixedly connected to the bottom plate, and the two second synchronous wheels are both rotatably provided between the two outer plates; and the second motor is fixed on the bottom plate and located at an outer side of the second synchronous belt; and the two inner plates are provided parallel and opposite to each other, the two inner plates are located between the two outer plates, and the two inner plates are fixedly connected to the two outer plates; the two first synchronous wheels are rotatably provided between the two inner plates; and the first motor is fixedly connected to one of the two inner plates, and the first motor is located at an inner side of the first synchronous belt. wherein the first simulation assembly comprises a first synchronous belt, two first synchronous wheels, and a first motor, the first synchronous belt being sleeved on the two first synchronous wheels, and the first motor being in a transmission connection with one of the two first synchronous wheels, to drive the two first synchronous wheels and the first synchronous belt to rotate; wherein the second simulation assembly comprises a second synchronous belt, two second synchronous wheels, and a second motor, the second synchronous belt being sleeved on the two second synchronous wheels, and the second motor being in a transmission connection with one of the two second synchronous wheels, to drive the two second synchronous wheels and the second synchronous belt to rotate; and wherein the first synchronous belt is located at an inner side of the second synchronous belt, an outer surface of at least one flat portion of the first synchronous belt being in contact with an inner surface of a flat portion of the second synchronous belt, and a rotational axial direction of the first synchronous belt being different from a rotational axial direction of the second synchronous belt; characterized in that the base comprises a bottom plate, two outer plates, and two inner plates; the two outer plates are provided parallel and opposite to each other and both fixedly connected to the bottom plate, and the two second synchronous wheels are both rotatably provided between the two outer plates; and the second motor is fixed on the bottom plate and located at an outer side of the second synchronous belt; and the two inner plates are provided parallel and opposite to each other, the two inner plates are located between the two outer plates, and the two inner plates are fixedly connected to the two outer plates; the two first synchronous wheels are rotatably provided between the two inner plates; and the first motor is fixedly connected to one of the two inner plates, and the first motor is located at an inner side of the first synchronous belt.