Yes, medical prayer mats can be used for meditation like yoga and light friction exercises. If the user is in still positions or engages in low friction movement for extended periods of time, a medical prayer mat can be useful for other applications.
Practices like yoga are more geared toward yoga meditation, not yoga exercise. Several yoga gurus worldwide do use medical prayer mats like the TIMEZ5 physiological prayer mat. It has been adopted and used widely by yoga practitioners.