Exoskeleton robot has attracted attention of many researchers because it realizes an old aspiration to attain a machine which is worn by man and maximizes his might via its powerful actuators. Thorough coordination between robot movements and that of user constitutes the greatest complexity of exoskeleton technology. Investigations showed that impedance control (IC) is suitable for this application but the present forms of IC are mostly dedicated to industrial robots which have significant differences with exoskeleton. In this article a versatile form of IC for the mentioned application is developed. Besides, according to perpetual uncertainties in load and measured force signals, for the first time an adaptive method for IC of exoskeleton robot is implemented. Simulating operation of robot in tracking user's walking motion while carrying a load of 50 (Kg) and with uncertainties in load and measured forces, proves efficiency of the proposed control method. Tracking error during simulation is almost zero and torques needed at interfaces are immaterial.