An article of footwear with a sole system includes a sole member and a protruding member assembly. The sole system provides tactile sensation. Protruding members of the protruding member assembly can translate through holes in the sole member to facilitate tactile sensation. Some embodiments can include an inner member that is configured to accommodate the movement of a protruding member. Other embodiments can include a plurality of recessed portions or nub portions formed along an outwardly facing surface of the sole member.