A system to augment motion via a battery-powered active exoskeleton boot, comprising: a shin pad of an exoskeleton boot to couple to a shin of a user below a knee of the user; one or more housings enclosing i) a controller comprising memory and one or more processors, and ii) an electric motor that generates torque about an axis of rotation of an ankle joint of the user, wherein at least one of the one or more housings is located below the knee of the user and coupled to the shin pad below the knee of the user; a battery holder coupled to the shin pad, the battery holder to receive a battery module; an output shaft coupled to the electric motor and extending through a bore in a housing of the one or more housings enclosing the electric motor; and the controller to: receive sensor data associated with activity of the exoskeleton boot during a first time interval; input the sensor data into a model trained via a machine learning technique using historical motion capture data associated with one or more users performing one or more physical activities; generate a candidate torque profile based on the sensor data input into the machine learning model; modify the model based on a comparison of the candidate torque profile and a target torque profile generated prior to receiving the sensor data; determine, for a second time interval subsequent to the first time interval, one or more commands to match the candidate torque profile; and transmit the one or more commands generated based on the model to the electric motor to cause the electric motor to generate torque about the axis of rotation of the ankle joint of the user in the second time interval. a shin pad of an exoskeleton boot to couple to a shin of a user below a knee of the user; one or more housings enclosing i) a controller comprising memory and one or more processors, and ii) an electric motor that generates torque about an axis of rotation of an ankle joint of the user, wherein at least one of the one or more housings is located below the knee of the user and coupled to the shin pad below the knee of the user; a battery holder coupled to the shin pad, the battery holder to receive a battery module; an output shaft coupled to the electric motor and extending through a bore in a housing of the one or more housings enclosing the electric motor; and the controller to: receive sensor data associated with activity of the exoskeleton boot during a first time interval; input the sensor data into a model trained via a machine learning technique using historical motion capture data associated with one or more users performing one or more physical activities; generate a candidate torque profile based on the sensor data input into the machine learning model; modify the model based on a comparison of the candidate torque profile and a target torque profile generated prior to receiving the sensor data; determine, for a second time interval subsequent to the first time interval, one or more commands to match the candidate torque profile; and transmit the one or more commands generated based on the model to the electric motor to cause the electric motor to generate torque about the axis of rotation of the ankle joint of the user in the second time interval. receive sensor data associated with activity of the exoskeleton boot during a first time interval; input the sensor data into a model trained via a machine learning technique using historical motion capture data associated with one or more users performing one or more physical activities; generate a candidate torque profile based on the sensor data input into the machine learning model; modify the model based on a comparison of the candidate torque profile and a target torque profile generated prior to receiving the sensor data; determine, for a second time interval subsequent to the first time interval, one or more commands to match the candidate torque profile; and transmit the one or more commands generated based on the model to the electric motor to cause the electric motor to generate torque about the axis of rotation of the ankle joint of the user in the second time interval.