<p>Upper limb motions play an important role in Activities of Daily Living (ADLs). Studies on the upper limb motion estimation have been conducted and applied to various fields. In this research, we develop a distance sensor array which can measure the upper arm deformation. An estimation method is proposed to calculate the elbow joint angle and the load in the hand simultaneously. The elbow joint angles are estimated using Support Vector Regression (SVR). The load is estimated using Support Vector Machine (SVM). In the experiment, we confirm the estimation accuracy by comparing the acquired and estimated angle and load.</p>