Hadith.928 - Talha al-Salmi asked Imam Jafar ibn Muhammad Al-Sadiq عليه السلام,
"Why do the hands touch the ground before the knees during Sujood (prostration)?"
Imam عليه السلام replied: "Because the hands are the key to prayer."
If there is a cloth between you and the ground during Sujood, there is no harm, but it is better if the hands directly touch the ground.