A robot arm including a force sensing apparatus capable of accurately sensing of a force in the axial direction of the robot arm during operation thereof, without being affected by a motion of the robot arm. The robot arm includes: a body that is elastically deformable and has a pipe form extending in an axial direction an instrument connected to an operational end of the body a cable that is connected to a terminal end of the instrument and controls an operation of the instrument and a force sensing apparatus that is attached to a surface of the body and senses a force acting upon the body, wherein the cable at the terminal end of the instrument is configured to move along a direction perpendicular to the axial direction of the body.
