I really enjoy the permanent exhibition of this museum. It is a great place to learn about old Tokyo, and there is so much to see, learn, and touch. Some of my favourite things to do are the hands-on attractions, including riding in a palanquin, trying to lift heavy buckets of grain the Edo way, or see a miniature performance of a stage play.
The only downside was in fact the special exhibition on Tokugawa Castles, because it featured little to no English and I couldn't understand any of it; unlike the permanent exhibition which features multiple languages.