Aortic pulse wave reflects cardiovascular status, but, unlike the peripheral pulse wave, is difficult to be measured reliably using noninvasive techniques. Thus, the estimation of aortic pulse wave from peripheral ones is of great significance. This study proposed an adaptive transfer function (ATF) method to estimate the aortic pulse wave from the brachial pulse wave. Aortic and brachial pulse waves were derived from 26 patients who underwent cardiac catheterization. Generalized transfer functions (GTF) were derived based on the autoregressive exogenous model. Then, the GTF was adapted by its peak resonance frequency. And the optional peak resonance frequency for an individual was determined by regression formulas using brachial systolic blood pressure. The method was validated using the leave-one-out cross validation method. Compared with previous studies, the ATF method showed better performance in estimating the aortic pulse wave and predicting the feature parameters. The prediction error of the aortic systolic blood pressure and pulse pressure were 0.2 ± 3.1 and -0.9 ± 3.1 mmHg, respectively. The percentage errors of augmentation index, percentage notch amplitude, and ejection duration were -2.1 ± 32.7%, 12.4 ± 9.2%, and -2.4 ± 3.3%, respectively.