We used to call it "Caressing" the floor in the swing dances. The creation of swing-turn-sway never loosing true contact with the floor allowed the faint brushing or caressing while traveling from foot to foot over the surface of the floor.
I like that but perhaps I think the contact is a bit more earthy than a caress, its almost as if you momentarily sink into the floor!
Maybe caressing isn't quite the right term for it, though that's how I feel with my free foot moving across the floor... A light caress or brushing very lightly so as to not loose contact with the flor and have to look for it under my foot whe. I want to actually transfer the weight onto it.
As to the foot remaining in contact with the floor while still having my weight on it, I feel that I am working through the floor and almost pushing it away from me or pulling it in towards me. I used to also feel this way when I skated. Maybe that's why it feels like this to me.