for me, what works is to stick my feet outside the covers, and hanging off the edge of the bed, at the side.

it seems to work, to have nothing *touching* them.

a few years back, besides being restless, they were also burning and tingling and hurting.

I placed a board under the covers at the foot of the bed, to hold the covers UP and away from them.

nowadays, the restless legs usually only bother me if they're *dangling* (I'm 5' 2" and many chairs are too tall for me)

so, I use a foot-rest when sitting, and cross my legs at the ankles, remembering to switch frequently.

I don't take any of the standard meds for RLS.