The feet, as well as the hands can move quicker with less surface area on the floor. This image shows the position of the foot during top rock and footwork. With the heel raised the leg becomes a spring and support system for the weight of the body.
Centre of Support
It's important for the feet and hands to be as close to the centre of the body as much as possible.
The hands, much like the heel of the foot raises at the thenar region. This creates less surface area. Most of the weight is rested on the fingertips or distal phalanx, this props up the body just enough to move at top speeds with agility.
Weight in the hand
Weight should be focused more towards the knuckle region of the hand. This will prevent the thumb from rolling into an injury.