Picking paper sheets from a stack shouldn't be too much of an issue with rubber wheels.
However, One of the problems you may encounter is that multiple sheets stick together. To avoid this, you'll first need to shuffle your stack a little (I only know the french word for this process: déramer, sorry.), but even then it can happen.
I've worked with an offset printing machine when I was a student, and the thing had a tendency to pick two sheets instead of one once in a while. There was a mechanism that would discard such sheets, and the way it worked was based on the thickness of a sheet: as the sheet was conveyed on a flat surface, if it was too thick, it triggered a small kind of lever which was finely tuned to rest just above the thickness of one sheet. It was very sensible, too; if there was one sheet it wouldn't budge, but two or more would make it move, and it would activate a trap to receive the offending sheets instead of feeding them to the machine.
To be honest, picking two sheets instead of one was the machine's less problematic behavior, and we were lucky if that's the only thing it did. Which means you'll have to be careful too, so that there is no way for a sheet to be somehow eaten - possibly irrecoverably - by the mechanism.