I'd pick up small objects like Scrabble tiles, hard velcro, and soft velcro to figure out what textures they were.

The giant manservant unwrapped a soft Velcroed case containing a syringe gun and two vials.

Simply cut a strip of inner tube, clean it up and cover one side with soft Velcro.

To fix the strap to itself, I added a length of soft Velcro to the inside of the strap.

Designers added a few more strips of soft Velcro, so testers could change the angle of the closure straps based on foot size and shape.