仿生关节覆盖皮肤：增强肌骨骼人形机器人本体感觉
Original title: Design of a Biomimetic Joint-Covering Skin with Tissue-Like Structure to Enhance Proprioception in a Musculoskeletal Humanoid
IndustryAI 78
Source: arXiv cs.ROPublish time unverified
arXiv:2608.23304v2 Announce Type: replace Abstract: 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.