Last few weeks I am trying out an idea, that walking barefoot as much as possible is good for your feet. Even after a few first days walking barefoot inside my home, I noticed that it actually is more pleasant to the feet then walking in slippers or even in your socks.
Today I went for the next step and went to the nearby shop barefoot. I was expecting that the rough asphalt would feel unpleasant at first and that I will find quite a lot of glass on my way. It appears that I was wrong - asphalt felt quite nice and I hardly found any broken glass at all. I even risked and intentionally walked across some broken glass - I felt the edges, but you'll not cut your feet unless you drag them and dragging your feet is a bad idea in any situation :).
When I came back, my feet felt a bit strange - numb, just like your muscles feel after unusual amount of stress. I'll probably will try to do some training on that.