When a horse doesn't like something being done it does not mean that it has been abused. It might have trust issues but that is because you are not the leader and she knows it.
Get a bamboo pole about 4 feet long. Tape a stuffed glove to the end and whilst standing at her shoulder rub the glove up and down her back leg. If she kicks give her a jolt with the halter rope but keep the hand on her legs even if it means poking it through to the other leg. She will soon realise that it is a waste of energy to fight it.
You need a good trainer to help you to understand how to handle and deal with this sort of situation.
Read this post I put up a while ago. Understanding the Importance of Manners