Don’t really need those for the original velocipede any more than you do an old timey wagon, spindle or trunnion system works fine.

EDIT: I once got to rode a replica and it just had a spindle for the wheels and you really did notice they’re kind of loose but it’s pretty much whatever, you always have one foot touching the ground anyways, it still works out to be a lot faster than walking at about the same energy if you have some sort of solid ground that isn’t cobblestone.