In our modern life, we have no need to articulate our toes like our fingers. The ground tends to be flat and the types of surface are not varied. As a result, our feet get lazy with toes get stuck together, curled in, being locked up inside of the shoes. By releasing the toes and using them like fingers of hands, you can gain a lot of release from your knees, hips, chest, and shoulders.
As a dancer, I learned to use my feet in meticulous way. I trained to walk with the sensation as if hundreds of little me were living on the sole of my feet, experiencing the ground. When I can feel this degree of sensation, the energy I receive from the ground spreads far and deep into my whole body.
Here is a small exercise you can do at home to activate feet and ankle.
Lie on the floor. Stand both legs or just R leg, whichever is comfortable. Let's work first with R foot. Leave the heel on the ground and lift the R foot towards the ceiling. Once you lift it, bring it down. Repeat 4-5 times with easy breathing. No effort. Now keep the sole of your R foot on the ground. Shift your weight onto the outside edge of the R foot. Bring it back to where you started. Repeat a couple of times on your own. Now shift your weight to the inside edge of your R foot, bring it back. You can go back and forth between outside edge and inside edge. Make this journey as smooth as possible.
Leg go of your R leg or both legs if you have them both standing. How do you feel your R foot? R knee? Hip joint? Even R cheek and R side of your neck?