When I was trying to pick up Gem's feet, I did it in the aisle way, but he was not on cross ties (he would get very antsy in the cross ties and I didn't want him to have a bad experience to go with them)
So I would have the lead draped over him and I'd try and pick up his feet (it was his front feet, but I had to go over the back feet aswell)
If he wanted to back up, fine, I'd let him back up to try and get away, but I was always moving with him so he never got away. When he realized this, I was able to pick it. I would only hold it for a second or two at first. (To let him know that was ALL i was going to do. Nothing more)
Then I would bring him back up where I started and just keep doing it.
I would sometimes bring treats into the mix. After I was able to clean one foot, I'd give him a treat.
I also do suggest having a helper there, though it is possible to do alone.
After about a month of doing this everyday several times a day, he's able to pick it up any time now (including out in a pasture without him moving away at all)
Granted Gem's prior situation is different than Chances but I did have to deal with a horse not wanting to pick their hooves up and also dealing with Gem trying to pull his hoof away.
Oh! Anytime he would do that, I would tell him to relax. It was more for me really, but it did help. I found that when he started to pull his foot away, I'd grab onto his leg tighter. When I would say "Relax", I would relax and Gem would stop pulling.
I hope you get this all worked out soon.
I would also suggest NOT doing this in the stall (because it's small and there's less room to move around)