When I got a new sewing machine in 1977 doing embroidery using no foot and the feed dogs down was part of the learning how to use your machine class. We did use stabilizer and a hoop as part of this method. You do have to be careful as the foot for the most part guards your finger from getting under the needle. If you use a hoop however you are holding on the to hoop to move the fabric around under the needle and the hoop will protect your fingers. With newer machines and feet available this method is gone by the wayside for the most part.