One solution to this jarring would be to contain the pilot within a capsule that is suspended from the main chassis, akin to the suspension seen in motor vehicles. Another possible solution would be to have the pilot suspended in water, with relatively loose bindings to stop the pilot impacting the walls of the container.
The salinity of the water can be adjusted to ensure the pilot is entirely neutrally buoyant, and is hence supported uniformly across the body.
The water also provides a medium for the pilot to move in, with these movements recorded by sensors and translated to the movement of the exoskeleton.
Obviously this design of exoskeleton would need to be at the larger end to accommodate a sufficiently large capsule in which to house the pilot.