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Jane Page was experienced in torture and thought it was a matter of technique. She explained that "eyes are good. Nails and teeth if you have the equipment. Breasts, if it's a woman." Her tip was to start with psychological torture as it got the victim in a better state. (PROSE: Falls the Shadow)
Jack Harkness related to a captive named Martin that he had experience in torturing prisoners, and that, "a long time ago", he had "quite a reputation as the go-to guy" in the event of needing to force information out of a person and knew just "where to apply the tiniest amount of pressure to a wound." He used this on Martin, who then told him what he wanted to know. (TV: Countrycide)
On Starship UK, the star whale transporting it was tortured to keep it moving. It was later revealed that this had been completely unnecessary, as the whale had wanted to transport the ship. (TV: The Beast Below)