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Several emerging applications require fast and precise torque control. Torque measurements are still expensive, bulky, and delicate. On the other hand, estimation techniques are all valid in principle, but their accuracy is largely affected by model identification and commissioning. This paper presents an accurate model for an effective torque estimation based on voltage and current measurements. The model includes all motor losses to get an enhanced overall accuracy, along with a fast response. The key feature is the commissioning procedure, based on a set of offline measurements. Procedure details and experimental results on a laboratory prototype are included.