Yes, this real-life Iron Man suit "has been developed that lets astronauts jump to Earth without a parachute - instead using rocket boots to soften the landing. The design was inspired by the RL Mark VI suit used by Tony Stark in the Iron Man films "and also comes with hi-tech augmented reality goggles, power gloves, movement gyros and is made using a commercial space suit." Continue reading for a video and more information.
The RL MARK VI would let people make high-altitude jumps from near-space, suborbital space, and eventually low Earth orbit itself. Felix Baumgartner successfully completed a space dive from 127,852 feet above the Earth, in October last year. His free fall took 4 minutes and 19 seconds before he opened his parachute.