I don't honestly know if Kelly's feet are ticklish or not....but AFTER quizzing the young women in my life (girlfriend, three sisters), I'd bet $$$ she is.
Why? All three of my younger sisters have very ticklish feet...especially Becky and Maria. So does Traci (my girlfriend).....and all four say that a deep, firm foot massage doesn't tickle enough to be uncomfortable; in fact, Becky is beyond ticklish (rates her feet as 100+ on a 1 to 10 ticklishness scale)....and says she enjoys a firm massage. Just tonight I experimented on Traci's feet, and while a rough footrub on her soft soles didn't provoke laughter (although she was biting her lip), the instant I switched to light stroking and saying "cootchie-coo", Traci burst out laughing and begging me to stop.
The very fact Kelly Ripa was insistent that Regis "be rough" when rubbing her feet tells me she is ticklish, and was probably deathly afraid of getting tickled and losing control on the air. I asked sis and Traci what they thought, and both agreed. Kelly Ripa isn't "one of us ticklephiles"...and would probably be humiliated at bursting out in laughter on-air (and in front of a live studio audience).
I remember it happening to a local Atlanta news anchor several years ago. Jill Becker hosting "Midday Atlanta" on WXIA TV, and one of the segments was a personal trainer giving exercise tips. When Jill removed her high heels and lay down on the mat to do the exercises, her co-host (Gary McKee) bent over and tickled Jill's stocking foot. Jill jerked her feet away, squealed and burst out laughing; but afterwords, she was clearly angry and flustered, her face red from embarrassment as they went to a commercial break (and McKee was apparently fired because of the incident...Jill's hubby Ron Becker was the WXIA station manager).
I know from firsthand experience....a woman who doesn't enjoy being tickled can become furious when tickled; and in public, being tickled into laughter will humiliate her.
Just my .02 cents worth...