Uh... I liked this question. And a quick look at the Google or Google scholar did not give me much. So is written here more what I grasp people understand about impedance. Like Noldorin was saying I take impedance as how much is impeding power to be transferred from one place to another. In a homogeneous medium power is transferred as wave unimpeded but when it find an interface of another medium then power transfer won't be so straight forward.
The point is at the two mediums dynamic equations of the two place does no match. Say, electromagnetically one medium has the Maxwell equations of $(\mu_1,\epsilon_1)$ and the other medium has the equations with $(\mu_2,\epsilon_2)$
At the interface the countour conditions needs to be satisfied
\begin{equation}\left(\vec{D_2}-\vec{D_1}\right)\cdot\hat{n}=0\end{equation}
\begin{equation}\left(\vec{B_2}-\vec{B_1}\right)\cdot\hat{n}=0\end{equation}
\begin{equation}\left(\vec{E_2}-\vec{E_1}\right)\times\hat{n}=0\end{equation}
\begin{equation}\left(\vec{H_2}-\vec{H_1}\right)\times\hat{n}=0\end{equation}
where $\hat{n}$ is the normal of the interface. Using the above conditions to connect the solutions of wave equations at each medium, will give rise to the Reflections and Transmission Coefficients. In the case of Maxwell's equations
\begin{equation}R=\frac{Z_2-Z_1}{Z_2+Z_1}\end{equation}
For a one dimensional wave, with standard solutions
\begin{equation}f_i\left(x,t\right)=A e^{k_i x-\omega t}+B e^{k_i x+\omega t}\end{equation}
the conditions that needs to be satisfied are the equality of displacement and the its derivative
\begin{equation}f_2(x_0,t)=f_1(x_0,t)\end{equation}
\begin{equation}f'_2(x_0,t)=f'_1(x_0,t)\end{equation}
where $x_0$ is the position of the interface. Using these conditions with the solutions of the wave equations we will get.
\begin{equation}R=\frac{k_2-k_1}{k_2+k_1}\end{equation}
So in this case the impedance will be characterized by $k$.
So generalizing what you want is find what is the physical conditions that needs to be matched at the interface and use it to connect the solutions of each side of the interface, and figure how you get the reflections coefficients, which should look something like the reflection coefficients above. The terms should be your impedance for that system. Note that the definition of your impedance in that system is not quite unique. As in the previous example you could normalize the $k_i$ by some arbitrary $k_0$ and call this the impedance.
\begin{equation}z_i=\frac{k_i}{k_0}\end{equation}
Check the literature to find what is the exact definition for the system you are interested in. I suppose you already went to Wikipedia for other examples.