Escort Boots were devices meant to guide visitors through a complex in such a way that they do not cause trouble and go where the proprietors want them to.
A wearer may only move where the boots are preprogrammed to go, in a rather jerky and rough way at that. They were used in the penal colony Justice World seen in the Series IV episode "Justice", where they guide the Dwarfers through the complex until they are granted clearance.
They are also able to be worn by soft-light holograms such as Arnold Rimmer, although this is only explained by the computer mentioning that it had been accounted for. Possibly the boots are hologrammatic emitters or hologrammatic themselves in nature when used on holograms. They are also used to bring Rimmer into his incarceration after he is charged with second degree murder in that episode. (RD: Justice)