A sole structure for an article of footwear comprises a midsole body having a proximal surface and a distal surface. Proprioceptive elements may extend in the hole in the midsole body, and translate toward the proximal surface in the holes upon a force directed along a central axis of the hole at a distal end of the proprioceptive elements. In various embodiments, the holes may angle relative to vertical from the proximal surface to the distal surface, the holes may be defined by perforations and the proprioceptive elements may be integral portions of the midsole body, or the midsole body may have a plurality of annular holes at the proximal surface, and a plurality of annular recesses in the distal surface, and a plurality of proprioceptive elements, each centered in a different annular hole of the plurality of annular holes. Methods of manufacturing articles of footwear are described.