Executing the impedance control of a pneumatic actuator with solenoid on/off valves is the subject of this paper. Firstly, based on equations of the system, a method presented to enforce the pneumatic system to behave like a linear mass-damper-spring system with adjustable parameters. Based on this method, the desired force determined that is aimed to act on the movable rigid components. Then, with respect to the fact that both the pneumatic output force and its stiffness are functions of the chambers pressures, the desired pressure profile of the chambers have been derived that must be followed by the pressure control loop. The sliding mode approach used and beside it a new algorithm implemented to convert the control input to duty cycle of the on/off valves. The experimental tests show that the achievable range of impedance parameters is limited due to the possible instability problem. Also the position tracking in free space at the system under impedance control is good, while the contact force is less compare with the position control case. Then taking into consideration the new mathematical model presented in this paper, we discussed on the factors that affect the quality and achievable mechanical impedance range of pneumatic actuator.