Come to think of it my feet are hairier than usual
But there's no smell, as that requires keeping them shut away in shoes.
It's easiest to adapt to soft grass and dry leaves. It may have taken me at least a couple weeks of regularly going barefoot to feel okay running on gravel and walking on broken glass. A lot of sensations can be interpreted as pain at first, but after a while the body gets used to it, without losing sensitivity to pleasure. A free online book that provides useful info on starting can be found here:
The Barefoot Hiker