The method for measuring the torque depends on the type of the motor. E. g. for a DC motor torque is proportional to the current that drives the motor so measuring the current is virtually the same as measuring the torque. For stepper motors it's not that easy as the current is driven through multpile coils and the general behavior is different. So for this type of motor a torque measurement device is recommended.
There are various types of torque sensors available (inductive torque sensors, eddy current torque sensors,...).
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