Even with stuff like that, it's not just a question of expansion and contraction, it's also a question of shock absorbtion, impact damage reduction, and reaction time. People don't realise how quickly and naturally their bodies react to unknown situations, even the act of standing upright all the time is a constant balancing act for the human brain, and muscles are kind of 'fluidic' in nature, they don't simply expand and contract, the level of control a human subconciously has over them is quite literally mind-boggling, Something as simple as picking up an object is a complex, and slow task even for the most advanced machine, change that object to a fragile object like an egg and it gets worse. Firing an arm mounted gun involves recoil that, in a human combatant, is absorbed and compensated for, once again, this wouldn't be the case in powered suits.
Any kind of physical man-machine interface is going to cause delays in reaction time, add to that the weight of the structure, the armour requirements, and therefore the power requirements, and the little problems that are going to crop up, and you'll probably find the best weapon to have on the ground in a combat situation is grunts with guns, who can cope with far more unexpected situations and terrains, and can react to situations instantly.
Edit: In summary, I doubt there is any situation in which a power-armour system could provide more effective support than a hover, tracked or wheeled vehicle, and they will probably have the same operational terrain limits, the difference is, a hover or wheeled unit is (a)faster and (b)cheaper.