I've had restless legs for 30 years. It is caused by a misfire in the brain that sends signals into, usually, your legs; but I have had it in other parts of my body on rare occasions. I've taken Permax to control it when it had to be controlled, like when I had surgery and had to be in bed for days without being able to move my legs. One non-drug thing that did work was to sleep on a vibrating pad and to set it just on my lower body on high; after a couple of months every night it went away for a year. I don't know if this was because of the pad or not, but at least I could sleep; it stops for no reason at times. When I swim it seems to aggravate it that night. If you google it there is a website just for this horrible malady.
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