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Title explains most of it - Power Armour has to have some sort of Shock Compensator built into the boots of the armour, or else any Marine jumping more than 10 feet is going to pulp their legs due to the mass of the suit. Not good for Assault Marines at all

Question is, how would they work? Is there scientific ground to how they could work while still fitting into an area the size of a foot sole?

DakkaDakka, discuss! And nicely, please - pretty tired of people spoiling good lore topics on here

G.A

It would need to be far more than just the sole of a boot to absorb the force of a jumping marine. The suit itself will have to contain a skeletal like structure that will absorb the shock of each movement.
Think of it like COD AW's exo skeleton which absorbed most of the force of a wall's resistance if the user were to punch it, therefore giving them seemingly more strength.

^This.

The entire "musculature" of the suit is its compensation.
Marine powered armour isn't piloted, after all, it's worn - like a suit, and thanks to their black carapace hookup, they feel it like a skin.

It enhances their already boosted abilities.

Also, Assault marines probably also use their packs for a "softer" landing (on the bounce) - firing both on the take-off and the landing.

It also helps there bones are insanely strong, far denser and stronger than any human.

They can take more shock and carry on going.