Any new program should be approved and cleared by their physician. All clients should be instructed in how to move all of the joints in as full a range of motion as they can without injury.
In the case of the foot/ankle, the toes can be flexed/extended and spread and the ankle can be taken through plantar/dorsiflexion, eversion/inversion, and cricumduction.
The hands can be moved in similar ROMs along with making a fist and taking the fingers through opposition with the thumb. And each finger can be taken through it’s own ROM individually.
This is where you could start and build from there. As long as the person has no wounds on the feet, I would also incorporate aquatic exercise. Myofascial release is a possibility, but all of these should be cleared through their physician.