In many cases of new actuation of compliant controlled or bio-inspired joint driven robot, a global identification of electrical and mechanical coupled dynamics is required. This paper proposes a technique which mixes a closed loop output error method with the inverse dynamic identification model method, which allows for the use of linear least-squares technique to estimate the parameters. A first approach which has been validated on a DC motor achieves a decoupled identification of the electrical and mechanical dynamics but fails to make a simultaneous identification. A major improvement of that method is proposed to carry out the coupled identification of both mechanical and electrical parameters. A validation on an asynchronous motor driven joint shows the effectiveness of the new procedure.