Get your horse very desensitized to ropes around his legs; run them all around, up and down the legs...all of them (especially if you want to incorporate the third hobble as suggested by allison). Even put the rope around the pastern and 'tug' gently on it, just to get him used to the sensation of a 'pull' around his foot. When he is used to ropes, then start putting the hobbles on for a short period of time. I like to do it after they have already had a good workout, that way he is ready to stand around. Most horses, if you have gotten them used to ropes being there, won't be bothered by the hobbles. I make sure to do this in an area that if they do get upset, they won't be injured, though. You never know, so be safe, rather than sorry. Remove his saddle before hobbling as well, just incase he decides to go up in the air and flips over.
"The ideal horseman has the courage of a lion, the patience of a saint, and the hands of a woman..."