A sensor structure for measuring a torque between a first shaft and a second shaft interconnected by means of a torsion bar, the sensor structure comprising: - a ring magnet mechanically connected or connectable to the first shaft, and comprising a number of North and South poles alternatingly arranged at a circumference of the ring magnet; - a first pair of magnetic yokes mechanically connected or connectable to the second shaft, and comprising a first magnetic yoke and a second magnetic yoke,; - a second pair of magnetic yokes mechanically connected or connectable to the second shaft, comprising a third magnetic yoke, and a fourth magnetic yoke, the third magnetic yoke being mechanically and magnetically coupled to one or more third pads by means of third fingers, the fourth magnetic yoke being mechanically and magnetically coupled to one or more fourth pads by means of fourth fingers, the third and fourth fingers (F3, F4) projecting respectively from the third and fourth yoke in a mainly axial direction; - a first and a second flux collector (C1, C2) arranged in the vicinity of the first and second magnetic yoke (Y1, Y2) respectively for collecting field lines of the magnetic field generated by the magnet and guided via the first and second magnetic yoke, and shaped so as to form a first gap between these collectors (C1, C2); - a third and a fourth flux collector (C3, C4) arranged in the vicinity of the third and fourth magnetic yoke (Y3, Y4) respectively for collecting field lines of the magnetic field generated by the magnet and guided via the third and fourth magnetic yoke, and shaped so as to form a second gap between these collectors (C3, C4); - a first magnetic sensor located in the first gap and configured for measuring at least one magnetic field component in said first gap and for providing a first signal; - a second magnetic sensor located in the second gap and configured for measuring at least one magnetic field component in said second gap and for providing a second signal; - wherein the second yoke is axially located between the first and third yoke (Y1, Y3), and wherein the first yoke is axially located between the second and fourth yoke (Y2, Y4); - wherein the pads are arranged such that, when a torque is applied, the first and third pads (P1, P3) face a major portion of a first type of the magnetic poles, and the second and fourth pads (P2, P4) face a major portion of a second type of the magnetic poles different from the first type; - a processing circuit for determining a value of the torque based on the first and the second signal; characterised in that the first magnetic yoke being mechanically and magnetically coupled to one or more first pads by means of first fingers, the second magnetic yoke being mechanically and magnetically coupled to one or more second pads by means of second fingers, the first and second fingers (F1, F2) projecting respectively from the first and second yoke in a mainly radial direction. - a ring magnet mechanically connected or connectable to the first shaft, and comprising a number of North and South poles alternatingly arranged at a circumference of the ring magnet; - a first pair of magnetic yokes mechanically connected or connectable to the second shaft, and comprising a first magnetic yoke and a second magnetic yoke,; - a second pair of magnetic yokes mechanically connected or connectable to the second shaft, comprising a third magnetic yoke, and a fourth magnetic yoke, the third magnetic yoke being mechanically and magnetically coupled to one or more third pads by means of third fingers, the fourth magnetic yoke being mechanically and magnetically coupled to one or more fourth pads by means of fourth fingers, the third and fourth fingers (F3, F4) projecting respectively from the third and fourth yoke in a mainly axial direction; - a first and a second flux collector (C1, C2) arranged in the vicinity of the first and second magnetic yoke (Y1, Y2) respectively for collecting field lines of the magnetic field generated by the magnet and guided via the first and second magnetic yoke, and shaped so as to form a first gap between these collectors (C1, C2); - a third and a fourth flux collector (C3, C4) arranged in the vicinity of the third and fourth magnetic yoke (Y3, Y4) respectively for collecting field lines of the magnetic field generated by the magnet and guided via the third and fourth magnetic yoke, and shaped so as to form a second gap between these collectors (C3, C4); - a first magnetic sensor located in the first gap and configured for measuring at least one magnetic field component in said first gap and for providing a first signal; - a second magnetic sensor located in the second gap and configured for measuring at least one magnetic field component in said second gap and for providing a second signal; - wherein the second yoke is axially located between the first and third yoke (Y1, Y3), and wherein the first yoke is axially located between the second and fourth yoke (Y2, Y4); - wherein the pads are arranged such that, when a torque is applied, the first and third pads (P1, P3) face a major portion of a first type of the magnetic poles, and the second and fourth pads (P2, P4) face a major portion of a second type of the magnetic poles different from the first type; - a processing circuit for determining a value of the torque based on the first and the second signal;