My farrier gives them a poke in the belly with the hoof pick when they do that, And that works pretty well for me. Just try to hold on to the hoof while you're doing so, And they usually get it and stop struggling.
If you're haVing trouble just picking up the foot, try holding onto the tendon by the cannon bone and pulling up.
You can also squeeze the horse's chestnuts, which seems to work well for some people, though I opt not to do that.
Remember to never overdo any of these techniques though, as you can easily hurt your horse.
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