An insertion apparatus (1) includes, an inserting section which is formed along a longitudinal axis extending from a proximal end side toward a distal end side, a base tube which is provided to be rotatable around a longitudinal axis of the inserting section, and includes a spiral fin spirally provided along the longitudinal axis of the inserting section, a motor (150) which rotates the base tube, a motor control section (2042) which supplies a motor current to drive the motor, and controls driving of the motor (150), and a torque limit determining section (2045) which determines whether torque of the motor is in a limit state by comparing a moving average or an effective value of the motor current with a predetermined torque limit set value.
