I think I should have let someone else do this.
There is a very cool device called a Bioness that I discovered which externally stimulates the nerves in a limb, and it's main function is to lift the toe of the uncooperative leg which improves gait speed and can retrain the nerve pathways because it's firing the muscle response.  It keeps people from falling, and lets them walk more normally.
I tried it out at Cardinal Hill in January 2017, and since then have been trying to get my insurance to pay for it.  They say it's experimental, investigational and there is no proof it will work.  I had it on in that visit and IT WORKS.  Don't get me started on the fact that the insurance would pay for $3 grand a month or more for medications for me if I took that autoimmune suppression route.
I have saved a little bit to start paying for it, but the expense it pretty huge for an out of pocket expense.  I even looked on Ebay and some folks are attempting to sell them, but since it's a medical device, it wouldn't work.
I wish I could load a video of the day I tried it, because I almost cried.  I hate having MS, and I hate what it is doing to me.  I just want to do everything that I can to stay strong, stay me, and stay out of a chair.