Abstract: An impedance control method is introduced for the control of exoskeleton suit. It uses multidimensional force/torque sensors installed between the exoskeleton and the pilot to estimate the reference trajectory. Because common difference method will amplify the noise and make the reference velocity and acceleration signal deteriorate, two serial tracking differentiators are used to get the smooth signals (referenced velocity and acceleration) and realize the designed impedance control method. The method can be applied to control the exoskeleton suit to follow the pilot′s motion and minimize the interaction force as well as decrease the pilot′s power consumption. Simulation of the crouch and stand motion when the pilot carries heavy load is made. The simulation results show the validity and feasibility of the designed controller. At the same time, the controller is robust to the variation of the estimated human stiffness and the load.