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In this paper, we analyze the influence of dynamical characteristics of man-machine interfaces on both impedance perception levels and motor control characteristics of humans. In order to estimate dynamical characteristics of man-machine interfaces, humans make use of the coupling characteristics between sensory systems and motor systems in their bodies. In this study, we propose a new model-based estimation method of impedance perception level of related with motor control characteristics of the body. For the experiment, we used a 6 degree-of-freedom manipulator to simulate different impedances. A dual task was imposed on the subjects along with measuring dynamic characteristics of human who are operating the manipulator, where subjects were asked to perform simultaneously an upper limb tracking task and an impedance perception task. Based on the experimental results that show proportional relation between the differences of impedance perception levels and changes of the gain characteristics of the motor control transfer function model, the power spectrum density of the developed human model can be applied for on-line estimation of the impedance perception level of human in man-machine interface. The effectiveness of the proposed method is verified through comparison with subjective evaluation results.