US Patent 11499879 Torque sensor having a strain sensor

A highly accurate torque sensor is provided by reducing the size of the shape. A torque sensor comprises a fourth structure and a fifth structure provided between a first structure and a second structure, a first strain sensor provided on the fourth structure, and a second strain sensor provided on the fifth structure. Each of the fourth structure and the fifth structure comprises a first connection section connected to one end of the first strain sensor or the second strain sensor, a second connection section connected to the other end of the first strain sensor or the second strain sensor, and a third connection section and a fourth connection section provided between the first connection section and the second connection section and possessing stiffness lower than the first connection section and the second connection section.