发表机构
The University of Tokyo（东京大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究设计了一种类组织分层结构的仿生关节覆盖皮肤，应用于Musashi-W人形机器人，可独立实现关节角估计（平均误差约3度），与肌肉传感集成后精度提升，为扩展本体感觉系统提供了有效方案。
AI 中文摘要
肌肉骨骼人形机器人的本体感觉通常主要通过肌肉传感进行估计，而关节周围的皮肤变形作用尚未得到充分探索。在生物系统中，分布于软组织内的机械感受器可补充肌肉反馈，支持可靠的关节状态估计。本研究设计了一种具有类组织分层结构的仿生关节覆盖皮肤，该皮肤在关节覆盖组织内集成了压力与拉伸敏感元件。所提出的皮肤被应用于肌肉骨骼人形机器人Musashi-W，对其独立本体感觉能力及与肌肉传感的集成效果进行评估。实验结果表明，仅该皮肤即可实现关节角度估计，平均误差约为3度；与肌肉传感集成后，估计精度进一步提升。由于其关节覆盖结构，该皮肤可在机械层面减轻外部干扰对肌肉的影响，多模态集成则为识别仅靠肌肉传感难以解读的外部刺激提供了可能。本研究提出了仿生关节覆盖皮肤的设计方法，证明这类类组织结构皮肤可作为扩展肌肉骨骼人形机器人本体感觉系统的有效途径。
英文摘要
Proprioception in musculoskeletal humanoids is typically estimated primarily from muscle sensing, while the role of cutaneous deformation around joints remains insufficiently explored. In biological systems, mechanoreceptors distributed within soft tissue complement muscle feedback and support reliable joint state estimation. This study presents the design of a biomimetic joint-covering skin with a tissue-like layered structure that integrates pressure- and stretch-sensitive elements within the joint-covering tissue. The proposed skin is implemented on the musculoskeletal humanoid Musashi-W, and its independent proprioceptive capability as well as its integration with muscle sensing are evaluated. Experimental results show that the proposed skin alone achieves joint angle estimation with an average error of approximately 3 degrees. Furthermore, integration with muscle sensing improves estimation accuracy. Owing to its joint-covering structure, the skin may mechanically mitigate the influence of external disturbances on the muscles, and the integration of multiple modalities suggests the possibility of contributing to the identification of external stimuli that are difficult to interpret using muscle sensing alone. This work presents a design methodology for biomimetic joint-covering skin and demonstrates that such tissue-structured skin can serve as an effective approach for extending proprioceptive systems in musculoskeletal humanoids.
CommentsAccepted at IROS 2026, website - https://poyotamu000.github.io/musashiw-joint-covering-skin/ YouTube - https://www.youtube.com/watch?v=L9xU2wMkRRg
