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Let U be a submodule of a module M. We call U a strongly lifting submodule of M if whenever M/U=(A+U)/U ⊕ (B+U)/U, then M=P ⊕ Q such that P ≤ A, (A+U)/U=(P+U)/U and (B+U)/U=(Q+U)/U. This definition is a generalization of strongly lifting ideals defined by Nicholson and Zhou. In this paper, we investigate some properties of strongly lifting submodules and characterize U-semiregular and U-semiperfect modules by using strongly lifting submodules. Results are applied to characterize rings R satisfying that every (projective) left R-module M is τ (M)-semiperfect for some preradicals τ such as Rad, Z₂ and δ.