The Ieyasu and Mikawa Bushi Museum

This museum is divided into 5 sections, each with permanent exhibits focused on the warriors of Mikawa, who supported Lord Ieyasu from his birth all the way to his unification of Japan.
There are also special seasonal exhibits in the special exhibition room, and in the first floor exhibition room.
There's also an area within the museum where you can try on a suit of armor, and feel the weight of real katanas and helmets.