The golden age torture was probably medieval Europe. Most of the torture devices used then were known for a long time but they were never before used as commonly as during the high middle ages. Their main reason was to extract confessions of various, mostly religious offences - the death of the confessor was usually acceptable.
Many of the devices used during the middle ages are still in use today and most of them have been adapted to used by the BDSM community. The following devices were commonly used:

• Pear: An instrument for expanding and rupturing orifices.
• Thumbscrews: Used to inflict pain on the victims fingers.
• Juda's Cradle: A pyramid used for stretching the anal or vagina.
• Torture Chairs: Chairs with nails, bolds or blades embedded.
• Torture Saw: A saw blade on the crotch usually ruins your day...
• Garrotte: A chair like device used to asphyxiate the victim
• Tickler: The tickler has little to do with tickling - its claw like shape was used to rip skin and flesh.
• Stretching rack: A device used to stretch the victim, creating pain in muscles and joints.
• Iron Maiden: A sarcophagus like device with spikes or blades on the inside
• Torture Masks: Masks, usually made of iron, that often added simple torture devices or gags to the humiliation.
• Heretic's Fork: A double fork used to force the wearer to look upward to the sky to face god.
• Pillory: A stand for a public humiliation experience.
• Torture Horse: A saw horse like device with a sharp edge on top.
• Branding Irons: Used to burn victims for the purpose of inflicting pain.
• Breast Talon: A claw like device especially made to torture a woman’s breast.
• Schandmantel: A cylinder shaped body cover not meant to physically harm but humiliate instead.