They are soft shoes that are sold.
To reduce friction.
Point shoes (ballet) and tap shoes are examples of smooth-soled shoes.
To reduce friction
to keep them warm
Velcro, Compact Discs, and Rubber soled shoes.
1907, "Keds" brand marketed rubber-soled shoes. The term was coined because of the alleged ability to walk silently with rubber-soled shoes. American-English origin.
tennis shoes were first introduced in the 1800's and were very basic rubber soled shoes.
I found that the company Fleet Feet is the best place to find flat soled running shoes. They have experts who place you in the correct shoe for your foot.
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The old tap dancers used solid wood-soled shoes, so I suppose the answer is yes.
Flat-soled, rigid shoes let the driver have more control over the pedals.