I've used "rat traps and toe clips" with steel toe clips and leather straps, plastic toe clips with synthetic straps, SPD clipless pedals, mountain bike pedals with studs, plastic pedals, alloy cage pedals with Power Grips, and alloy pedals (folding and non-folding) with strapless toe clips. For my recumbent trike, I find the SPD clipless the best since my foot can hang in the pedals even though my feet are elevated in front of me. For my Easy Racers recumbent bikes, I like cage pedals with Power Grips, since they're a compromise but help keep my foot in the modestly elevated pedals. For my upright bikes, I like the strapless toe clips because I can quickly extract my foot without even thinking about it, just a reflex, and they do what I want: they give my foot a front barrier so I don't slip forward and guide my foot to the ideal position, and they allow me to use any comfortable shoe that I like, and the cage pedals distribute the force around my sole, whereas the clipless pedals concentrate it in the center of the ball of my foot which eventually hurts or makes me numb even with several different brands and stiffnesses of shoes.