Torque sensor means and a robot

The present invention relates to a robot apparatus comprising a torque sensor and the torque sensor. The torque sensor comprises a first rotary member, a second rotary member, the strain detecting element and the body. A first rotary body rotatable around the input shaft. A second rotary body rotatable about the output shaft. Strain body includes a first engagement portion. A first engaging portion in a first direction parallel to the input shaft, a second direction perpendicular to the first direction and a third party around the input shaft of the at least one separation direction to the rotating body, and engageable to the rotating body in the third direction at least one of. Strain body between the first rotating body and second rotating body toward the third conveying direction of the rotational torque. To the strain detecting element is provided to measure the strain body due to the strain body caused by the rotational torque.