An insertion apparatus includes an insertion section (110) configured to be freely bendable, a spiral tube (132) provided on an outer peripheral surface of the insertion section (110) to be rotatable about a longitudinal axis, a motor (150) that rotates the spiral tube (132), a drive control unit (202) that supplies a drive current to the motor (150) to control driving of the motor, a torque limit value storage unit (203) that stores a torque limit value which is an upper limit of the drive current, a drive current detection unit (2021) that detects the drive current, a bending shape detection unit (204) that detects a bending shape of the insertion section, and a torque limit value correction unit (206) that corrects the torque limit value stored in the torque limit value storage unit (203) in accordance with the bending shape detected by the bending shape detection unit (204).
