The way I handle horses that are feet-shy, is that I start like Clinton Anderson teaches, and desensitize them to things around their feet and legs with a training staff with a string. Then I advance to a short rope, like a piece of used-up lariat, and rope their feet and let it slide up and down their legs until they stand still and don't fidget. Once I can do that with all fours and they don't pay it any mind, then I'll start picking up the feet and dropping them. Once I can pick up their feet without argument, I will clean and inspect the hooves EVERY time I halter them up and before and after every ride. It becomes pretty routine for them.
If I get one that knows better that starts being a problem while I'm trimming and have to hold the hoof for a longer period, I'll give them a slap on the rump or side with the rasp. Not too hard, just enough to sting. They understand when they've been punished for being ornery.
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