Disclosed is a Rotation sensor with a light source, a light detector, an internal part having a first lateral surface, which is globally cylindrical and convex, and an external part having a second lateral surface which is globally cylindrical and concave. The first and second lateral surfaces both have a same central axis defining a rotation axis for a relative rotation between the internal part and the external part the angle of which this rotation sensor can measure. A first grating is arranged at the first lateral surface with its grating lines parallel to the rotation axis, and a second grating is arranged at the second lateral surface with its grating lines parallel to said rotation axis.