For those of you who haven't seen this sex toy from @Tfmonkey, have a look.

https://www.mgtow.tv/watch/sex-toy-review-xspacecup-lubricating-suction-thrusting-massage-gun-with-lockable-case-sponsored_b71wvtwSztwbRnm.html

The auto-lube technology should not be difficult to implement in a separate module from the thrusting mechanism so you could integrate the applicator into a Revy SPR, or use the applicator with soft plastic for regular insertables for a doll. Then add some rudimentary pressure sensors to her wrist, and connect both to a RaspberyPi.

Your doll now reacts to your touch and will cum on command.