One of my doctors recommended buckets of rice. The weight was too much for my feet but I put some into a shallow dish (it was disposable from the dollar store) and kinda slide my feet back and forth over the rice. It took some time to work up to the rice.

I started with cotton balls then went to a silk tie. I took baby steps and sometimes had to take a step or two back. I also used things like a washcloth and a shower poof/synthetic loofah. Personally I found trial and error worked best for me. Good luck!