Pedal inputs
My experience is that you will never get the fine inputs you need in an R22 /R44 if your heels are not stable & still on the floor and the pedals slide up and down the soles of your shoes behind the toes and balls of the feet.
Have you asked your CFI why he prefers this method - maybe he was bought up on a different type. Can't imagine it produces decent control though. I once flew in an R22 with an ex Enstrom owner and as a helicopter pilot he made a great deep sea diver!