Infinite Spines

This solution is for surfaces with protrusions. The small wires of steel wood are mounted on a hard (right) and soft (left) resin support. They hook on micro-asperities. The dish sponge material can be replaced with a more regular net of wires. High friction is required, so metal net is probably better than nylon or other plastic.
Please note that the concrete support, being a cast surface is a "full" surface (i.e. with very few asperities).

Thin wires can be considered as infinite distributed spines acting on their external surface instead of the tip end.