To replace some chair feet protectors I've designed these textured 16mm TPU caps.
They've an opening of 16mm (about 0.63 inch) and a little texture on the bottom. Without any load they mainly protect the chair legs from damages but won't prevent any slipping. TPU is too smooth for that. But as soon as a person sits or leans onto the chair the small textures will compress and they turn into some sort of anti-slip feature.
Some general info about printing TPU: