References
“The paws of a lion resemble those of most of the cat family. Cats and dogs walk in what is called the digitigrade position: the heel and instep are raised off the ground, making locomotion quieter and more versatile. The large pads on the ball of the foot and on the toes provide a cushion when walking and also help silence the feet. The lion has retractile claws — it can retract them while at rest or when walking, so that they do not catch in the ground and reduce his speed.” (Foy and Oxford Scientific Films 1982:177)
Military based equipment to help stealthiness be achievable
I think it would be a good idea to replicate the foot pad and create a new kind of flexible, tough, durable, and comfortable shoe. It would cushion each step, manage heat, and would restrict foot movement less.