In English, the word "awkward" can be used to describe a situation that is uncomfortable and embarrassing (but neither word seems to fully describe what "awkward" describes). What is the best translation of this concept in Spanish? If a single word doesn't fully capture the English meaning, what phrase would best describe it?
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In Spanish the best translation for awkward is incómodo.
Yes, 'incómodo' can just mean uncomfortable, but also it is used as awkward as in an awkward situation.
The word "Torpe" has all the flavor and meaning as awkward. And it is used in exactly the same way like "El muchacho es muy torpe" (The boy is awkward) or "Esta en una etapa de torpeza" (His in a awkward stage) as for your sentence "Me siento torpe en esta situacion"
Actually, I don't think we have such a precise word as 'awkward' (I've missed it).
As per other answer, "incómodo" is the most commonly used word. But because "incómodo" means in general "uncomfortable", this sense is often made more explicit: "Una situación incómoda", "Un momento incómodo", etc.
Other words are "(momento) embarazoso" (more precise, but less colloquial), or "violento" (which also is ambiguous).