i roll my foot on a golf ball. you can control the pressure on the ball by either sitting on a chair with your foot on it or standing up and putting more weight on the ball.
i also have a spikey ball too that feels good. the diameter is maybe the size of a baseball.
while seated on a chair, you can also roll, bend, flex, and separate the toes of your foot on the floor. once you've mastered that, stand near a wall or chair and do the same moves in the standing position, alternating the working foot with your other foot.
from there, using both feet, slowly and deliberately rise up on tip-toes and back down, and perhaps all the way on your heels with toes lifted up toward the ceiling (like a rocking motion).
also - spend 15 min or more laying down with your feet on top of the bed or a chair.
you can massage your feet with your hands using lotion, or have a family member give you a foot massage. it's easy to forget that the foot has so many muscles that need TLC.
i have these shiatsu slippers that i bought from a Japanese store - i walk around with those on. i also use yoga toes while sleeping.
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~jeannine
Miyagi: Wax on, right hand. Wax off, left hand. Wax on, wax off. Breathe in through nose, out the mouth. Wax on, wax off. Don't forget to breathe, very important.
[walks away, still making circular motions with hands] ~ Pat Morita, The Karate Kid, 1984
disclosure: in the years 2002-2004 i had a professional relationship with a distributor of fitness videos; see profile.
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