| 摘要 |
PROBLEM TO BE SOLVED: To provide a miniaturizable or suppressing an effect due to a load and a vibration, and to provide a robot apparatus with the same.SOLUTION: The torque sensor 13 has a divided structure of first and second rotators 133, 132. A rotational torque is transmitted from the first rotator to the second rotator through a strain element 133. A detection element 134 measures a distortion generated in the strain element and detects the rotational torque. The strain element has a first engagement section E11 movable relative to the second rotator in the axial direction, the radial direction and the rotational direction of the torque sensor, and engageable in the rotational direction. The strain element has the predetermined degree of freedom in three directions, so that the effect of a vibration component is possibly reduced, thereby a rotational torque can be accurately detected by the detection element. |
