Utica (and others, Mountz comes to mind) make adjustable torque limiting drivers which would be suitable but they are pricey; I managed to score a KT-130 kit at a garage sale or they would have been out of my budget.
http://www.apexpowertools.com/catalo.../SP-301_EN.pdf See pages 5-7 They work great but are overkill for general use.
There is no problem with using adapters provided they keep the bit or socket in line with the axis of the driving end of the tool; straight extensions and drive size/sex adapters are fine. The torque calibrator at work has a 3/8" drive receptacle and we adapt it to 1/4" square and hex drive tools all the time, no issue.