Torque detection device, torque detection method, robot, method of manufacturing product, control device, recording medium, and structure

A torque detection device comprising:

• a first portion;
• a second portion disposed inside the first portion;
• and
• a connecting portion configured to link the first portion and the second portion,
• wherein the first portion comprises a first surface facing the second portion and a first convex portion that projects toward the second portion, the first convex portion having a second surface connected to the first surface,
• wherein the second portion comprises a third surface facing the first portion and a second convex portion that projects toward the first portion, the second convex portion having a fourth surface connected to the third surface,
• wherein the connecting portion is configured to link to the first surface, the second surface, the third surface, and the fourth surface, and
• wherein in a case where torque is applied, the connecting portion deforms, and the first portion and the second portion are displaced relative to each other.