I dealt with a lot of these same issues in my foot last year when my RSD got a lot worse. The biggest thing for me was the physical therapy. Starting small like Kathy said with the ankle pumps and the towel rolls and working up to standing exercises and walking. It took a lot of work and I will often have to actually THINK about what I am doing with my feet because they will still do this...and it gets worse as I get tired. But all the concious effort and pain is worth it because I am now walking fairly normal almost all the time (though I do have to use a walker). But it took several months to move beyond just the stuff I could do sitting down and that was with doing the exercises several times a day every day. But it is possible to get past it if you can push through the pain in the beginning...it does get easier as you go but I won't lie and say it is ever painless.

I'm so sorry to hear that you have RSD and have been dealing with it for so long. The internet is a really great resource for those of us with RSD (especially since doctors often aren't in my experience) and this particular forum has been a godsend for me. If you ever want to know more specifics about the different types of physical therapy, just ask...I'd be happy to share. The hardest part is really making sure that you have enough pain relief so that you can DO the therapy...but you will still have to push though a lot of the pain regardless.