I like to use velcro as a rest, but not for the side plate, just cause it is thicker than a leather pad, which is what I use there..
If you are getting wear on the shelf or on the rug on just the side nearest you (belly) it COULD mean you ned to raise your nock point a tad, or it COULD mean your fletching is a bit rough at the leading edge and just plain wearing it out. I think the former would show up pretty quick. Everything wears out (including me, unfortunately) so don't worry too hard about it. If your arrows fly well, be happy. As above... you may need to adjust your nock point when you change rests just cause you are now built up a bit over what was.
ChuckC