Measurement of the motion of upper limbs can make more intuitive the operation for robots devices and facilitate the motion analysis of daily-life activities. Various biosignals have been measured for motion estimation. In our research, we focus on the upper arm deformation as the biosignal, due to it provides complex motion information about muscles, tendons, and bones. In this paper, a novel method is proposed to simultaneously estimate the elbow joint angle and the load in the hand using only the upper arm deformation measured by a distance sensor array. The designed distance sensor array has three sensor units, witch can measure the deformation of three major muscles in the upper arm. Based on the measured information, the elbow joint angle is estimated using Support Vector Regression (SVR), and the load in the hand is estimated using Support Vector Machine (SVM). In the experiments, we estimate the motion and evaluate the performance of the proposed method with the participation of five subjects. The results show that the proposed method can estimate the elbow joint angle with a Root Mean Squared Error (RMSE) of less than 17.9 deg and estimate the load in the hand with a Correct Rate (CR) of more than 94% for all subjects.