Not really, not at infantry level, the only real alteration to infantry tactics over the centuries has been the change from formation-led combat to skirmish-based combat (and that was bought about mostly by the change from Bows to Muskets to Guns) and the Army still clings to the former for things like parades etc (partially because of the discipline required). Roman and Medieval soldiers used to wear armour that was made out of Bronze or Iron, which was just as heavy as the loads that modern soldiers had to carry, though, being in rank and file probably helped compared to skirmishing,
I don't think infantry will change all that much, even augmentation suits would not, I suspect, make it through the ranks, you would probably get a specialised logistics division, and soldiers wouldn't be allowed to take them into a direct combat situation, partially because of cost, partially because of military dogma. Certainly soliders on patrol would be at risk for being killed for their suit.