Abstract: It is provided an exercise unit incorporating a module for exerting torque countering torque exerted by a user. The exercise unit includes a torque sensor and a processor. The torque sensor includes a first arm connected to a first axis rotatable by the user, and a beam load cell connected to the first arm and associated with a second arm. The second arm is connected to a second axis rotationally associated with the module, and is coaxially coupled to the first axis. Exerting torque on the first axis loads the beam load cell, providing a measured load, which the processor uses to provide a measured exerted torque. The processor is embedded within a motor driver, and its method of operation includes acquiring desired exercising parameters, receiving measurements of motion variable and driving the motor accordingly.