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.
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 term "sneakers" originated in the late 1800s because the rubber soles of the shoes allowed wearers to move around quietly, "sneaking" without making noise. The name became popular and stuck as the popularity of rubber-soled shoes increased.
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.