I have compression socks (CEP), but, as you mention, they work on the calfs. I get achey feet, too. In addition to putting my feet up and the occasional foot bath with epsom salts, I keep a 'foot log' under my couch. It's easy to use for a few minutes every day and it works like a massage.

This 'ball' works on the same concept: http://www.roadrunnersports.com/rrs/products/SUR103/