My husband and I took the bus from Ostrobanda to the Hato Caves. It was very easy and very inexpensive. A sign along the road will signal you that you need to get off the bus, and you can see the entrance to the guide center from the road. You can wear flip flops or open toed shoes. No climbing is involved and the cave is very open. All you claustrophobic people should be fine, or at least I was. When choosing an outfit to wear beware the cave is warm and humid--you will sweat, a lot! Hydrate before going in; you can purchase water (and beer) on site. The guide gave the tour in English and Dutch on the same trip. This just gave us a chance to look around while he was giving the Dutch portion.
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