<p>Traditional joysticks rely on force sensors to measure operating force, which increases the burden on operators and production cost. In order to reduce the operating burden and the manufacturing cost of the joystick, this paper designs a small and compact two-degree-of-freedom force feedback handle and proposes a novel operating force at the end of joystick estimation strategy based on parameters identification. Firstly, the dynamic model of the joystick is established based on Lagrange theory, and the LuGre model is used to describe the nonlinear friction torque in the dynamic model of the joystick. Secondly, according to the system characteristics, the experiment is designed step by step for parameters identification. The gravity and static friction torque parameters of the system are curve fitted based on the least squares method to identify the corresponding static parameters; after the dynamic model of the system is reasonably simplified and Laplace transformed, the dynamic parameters identification is performed by step-by-step design of experiments according to the dynamic characteristics of the second-order spring damping system. Finally, based on the identification results, the operating force estimation experiment was carried out on the joystick under various conditions, and the sensor delay experiment was carried out to determine the sensor delay time. The estimation error was determined after data processing. The experimental results show that the estimated operating force is basically consistent with the measured data, which verifies the proposed dynamic model and parameters identification method, and verifies the accuracy of the proposed operating force estimation strategy.</p>