First of all, the default in Islam is that anything that is not forbidden is allowed.
I am scratching my head on this one. I am a little alarmed that you are panicking about being a sinner because your husband touches you. I am frankly perplexed by the question.
Rest assured, there is nothing for you to repent from.
And second, please keep in mind that God is just and fair! I don't know who gave the first experience of Islam but if he or she left you in such a state of worry over the touch of your husband, he or she has done a very negligent job.
Please always keep in mind that God is not a monster. I wish you less pain in your feet (I personally recommend a hot feet bath with a pinch of salt in it. It works for me, but ask your doctor, it depends on the origin of the pain).