If he is not keen on having his paws touched, then takes things slowly. Touch an area on the leg that he is happy with, praise him, and give a reward. Slide your hand a little way lower and repeat. Watch for signs of tension, and stop just before you reach a 'no-go' place. Resume later, starting in an OK spot and travelling lower. Repeat this several times a day. Eventually he will learn there is nothing to fear from you touching his feet; indeed, the opposite is true, and he gets lovely praise, and he'll allow you to handle his feet.