The breaking wheel did exist. That was lethal. As was the rack (stretching you until your joints came out of their sockets, and eventually pulled your spine apart. A less lethal method is the "Swedish Wheel" ...I only know of it being called that in German, and google was super not helpful. But it was used in Munich... again they tie you to a wheel, but in the bottom would be water (like waterboarding in a way, I guess) but sometimes also boiling water or even hot oil.

Executioners (generally the ones who tortured) tried to keep folks alive.

In fact, generally there are two (really three) kinds of torture: one to punish, and one as a form of execution. The stocks were real. So was public whipping. The third kind of torture would be to get a confession... so also non-lethal.

They'd roast you (not like on comedy central, but with fire or usually hot iron), dunk you in water. Head vices were real. Slowly crushing one with weights was real.

A "neck screw" really existed. Sometimes resulting in paralysis or death. ..and I'd think suffocation, but again, a skilled executioner wouldn't make rookie mistakes.

And yes, even the "Spanish Tickler" (in German) was basically a claw, where they hung you upside down, and then would occasionally scratch some of your skin off. (kinda like being flayed alive a la game of thrones... but over days or months).

And... er, in German the "Judas Scales (Weights)" ...which was basically a wooden spike or cylinder where they would make you sit on it (naked) ...uhm... use your imagination. It basically impaled you in a bad way.

There was a sort of "sensory deprivation" torture where they simply through you in a pitch black place and let you rot (I used to give tours in a place like that). Sometimes they'd throw in more than one person to see who ate who first (seriously).

Often just showing the instruments was enough to get a confession.

Er... there is SO MUCH MORE, but may I please stop now? If you want to hear more I can list dozens more, and give way more details, but a warning to the squeamish...

What is the obvious myth regarding the iron maiden?