A novel estimation scheme for joint torque information is constructed by observer design method in the case that force/torque/velocity/acceleration sensors of manipulator are not available. Based on generalized dynamic scaling function and scalar filtering, the globally exponentially stable observer for torque estimation with only position measurement is presented in this article. The main contribution lies in the development of the classic Nicosia observer with performance improvements and significant order reduction compared to the existing results. Comparative simulations demonstrate the effectiveness and superiority of the proposed scheme.
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