Inertial dampeners are used on Star Trek to prevent starship occupants from experiencing inertial effects of the ship. Clearly, for a ship to accelerate at a very high rate via impulse drive, the inertial dampeners are required to prevent harming any of the crew (and also to keep everyone's quarters from looking like the aftermath of an earthquake).
What about entering warp? It's my understanding that warp speed is nothing more than a bubble of warped spacetime around the starship that it then moves through using impulse drive or some other conventional means of propulsion. To those inside the bubble, they are not moving superluminally. If this is the case, it doesn't seem to me that entering warp would cause the occupants to experience a sudden extreme acceleration, since from their perspective they are moving at the same velocity.
The whole reason I'm asking this question is that in an episode of Star Trek: Voyager one of the characters (I think it was Tom Paris) made a remark to the effect of "without inertial dampeners, we'd all be stains on the wall when we go to warp." (I'm sorry I don't have the exact episode - if anyone knows it please feel free to edit/comment) This statement seems to indicate that entering warp on a starship without dampeners would be fatal, and as an episode of a Trek TV series, this has to be canonical.
So if they are required, does that mean Zefram Cochrane had to invent intertial dampeners for his warp ship too? What about the Bajoran sail-ships that "accidentally" attained warp in DS9 - how did Sisko and Jake survive? Was Tom Paris just full of it? That doesn't speak too well for Voyager's crew if their helmsman doesn't even know how his ship's propulsion works.