Yes - some compactor companies will sell a urethane pad. It's tougher than rubber, and as Paul will tell you and I will attest to, a rubber pad can return too much vibration to the machine and start to shake it loose. I used a rubber pad on one machine for a few years, and it seemed like the bolts/nuts would get loose pretty quickly.
You can expect to pay up to $400 for a pad, but they last for a long time (if you look at the eBazaar forum here, you'll see a compactor I was selling that included a urethane pad). I've heard of others using carpet scraps. Never tried it, but it is a cheaper alternative. The only hard part would be getting a piece of carpet to stay on the bottom of the plate for more than a few minutes.
This discussion has been included in the site beginner's brick paving page.