Years ago, a doctor turned orthotics-cobbler recommended that I forego the slippers-in-the-house and opt for a pair of shoes that provided good support and comfort for not only my soles, but my ankles and me!
Done! I now wear a house-designated pair of shoes as my "slippers".
Besides providing support for the ankles and cushioning my feet, I recently discovered that wearing shoes is a good way to prevent injury to those tender tootsies when you are making a bed!