TORQUE SENSOR AND ROBOT

To provide a torque sensor which can be downsized.MEANS FOR SOLVING THE PROBLEM: A torque sensor 1 includes a strain body 3 and optical sensors OS1 to OS4 for detecting the strain of the strain body 3. The strain body 3 includes a ring-shaped outer peripheral part 5 and an inner peripheral part 7 arranged in the inside of the outer peripheral part 5 in a radial direction at least partially. The optical sensors OS1 to OS4 include scales SC1 to SC4 fixed to the inner peripheral part 7 and arranged between the outer peripheral part 5 and the inner peripheral part 7 and detection units D1 to D4 fixed to the outer peripheral part 5 and facing the scales SC1 to SC4 between the outer peripheral part 5 and the inner peripheral part 7.SELECTED DRAWING: Figure 3 【課題】小型化することが可能なトルクセンサを提供する。【課題を解決するための手段】トルクセンサ１は、起歪体３と、起歪体３の歪みを検出する光学式センサＯＳ１～ＯＳ４と、を有し、起歪体３は、リング状の外周部５と、少なくとも一部が外周部５の径方向の内側に配置された内周部７と、を有し、光学式センサＯＳ１～ＯＳ４は、内周部７に固定され、外周部５と内周部７との間に配置されたスケールＳＣ１～ＳＣ４と、外周部５に固定され、外周部５と内周部７との間にスケールＳＣ１～ＳＣ４と対向して配置された検出部Ｄ１～Ｄ４と、を有する。【選択図】図３