A two-stage parameter identification method is developed for Hammerstein systems containing backlash nonlinearities bordered by parametric arbitrary-shape lines. In the first stage, a persistently exciting input is designed so that the linear subsystem can be made decoupled from the nonlinear element. Therefore, linear subsystem identification is coped with using a least squares estimator enjoying consistency, due to input persistent excitation. Then, the backlash parameters are estimated using appropriate periodic exciting signals and consistent parameter estimators. (C) 2011 Elsevier Ltd. All rights reserved.