This type of backless shoe or slipper had various names. They were known as chopines, and in England they were sometimes called pantobles, or even mules. This pair is a more modest version of the impossibly tall chopines that were fashionable in Venice in the 16th century (see Museum nos. T.48 and T48a-1914). One of the pair is seen on the left of the image. They are made of cork covered with a fashionable 17th century silk damask. This was possibly added at a slightly later date. They have a long ribbon that ties round the wearer's calf and ankle. Elizabeth I had pairs of leather pantobles made for her that were open at the toes, like the examples you see here.
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