Design of a Biomimetic Joint-Covering Skin with Tissue-Like Structure to Enhance Proprioception in a Musculoskeletal Humanoid
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来源：arXiv cs.RO发布时间待核实
arXiv:2608.23304v1 Announce Type: new 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.