Brookstone Foot Massager Roller Plantar Fasciitis Pain Relief - Wooden Under Desk Feet Massage - Dual Manual Heel Massagers - Wood Rolling Acupressure Tool with Reflexology Guide - Gift for Men, Women

For home, maybe one of those rolling textured foot massagers? Something he could stim with that gives him the sensory input while keeping his feet off of you? I've done physical therapy exercises for my feet that involved using my toes to pick up small objects like dice and move them from one place to another. Maybe setting up two sensory bins where he can stick his feet in pom-poms or something and move them from one bin to the other with his toes?