1 - Lift a floorboard and see if you feel a draught. If the draught is perfectly in time with the wind, you may have a boarded up upstairs chimney venting to the underfloor. This is usually obvious because the floorboards are cupped severely from elevated underfloor humidity. If the draught is just "general", your joists are not pointed properly into a cavity wall, as mentioned.
2 - Buy some Tredaire Dreamwalk 11mm. It has a Tog rating of 3, most crumb rubber or foamed-rubber are about
1-1.5. The difference is noticeable.
3 - Insulate the loft & cavity Same goes for checking any window draughts or such like, also around any CW tank overflow pipes long forgotten or stuffed up with foam which has now rotted away.
4 - Heat the downstairs to about 10-11oC. If you do not, any fabrics, rubber underlay, wood etc, will not tend to like the environment much.
Heat loss depends on temperature delta.
- Your floor temperature will be quite low (15oC), but so is temperature of the unheated room below (6oC) - so the temperature delta is just 9oC.
- For comparison ceiling plasterboard above a heated room can have a temperature delta of 25oC thus benefits much more greatly from insulation.
For foot comfort a higher Tog underlay helps considerably to surface touch.
Stick some hardboard over the downstairs missing hardboards re draughts. If it is truly unheated I would stick some form of heating down there to get it to 10oC. Upstairs consider a thick rug with another layer of Tredaire underlay under that if a living area (no thicker than some "must have been a polar bear" sheepskin rugs).
The only tool which will cut a hole which you can plug are the circular-saw/router access panel tools. They are about =A320-30, use plastic plugs a bit like office-desk cable-entry plugs. The problem is the insulation isn't going to do much. If you ever do heat the downstairs the heat lost upstairs is very beneficial (enough to keep the upstairs at 14oC).