MOTO flat pedals are ideal for barefoot cycling, because the foot is placed stably on a closed surface instead of on a few cm² - as with conventional pedals. Thus, the power is uniformly (instead of punctually) transferred. The ultra-flat profile acts similarly to barefoot shoes.
Should your feet be too soft and you the (sandpaper-like) surface too rough, this can be easily peeled off like a sticker.
Now, you can even ride without grip or re-stick your pedal: with a self-adhesive anti-slip surface or with a finer grained skateboard griptape. Follow the link and you will find a template.