We've all had that moment. You've been on your feet all day. You kick off your shoes, plop onto the sofa, put your feet up on the ottoman and think: "Man. I could really go for a foot massage."

But if you don't have an accommodating spouse, roommate, or nimble-fingered house cat living with you, you might feel out of luck. Fortunately, we've got plenty of home foot massager products that can help you find relief from the comfort of your couch.

Mechanical foot massagers

These massagers use rotating heads that deliver deep, shiatsu-like kneads all along the feet. Many models, like the shiatsu massager pictured above, also have built-in heaters to help melt tension built up after a long day.

Pictured: Heated Shiatsu Massager ($64.99); or shop similar styles here.

Massaging footbaths

Massaging footbaths pamper not just the feet, but also the lower calves with features like massaging water jets and rollers that mimic the movements of a trained reflexologist. The heated water is great for softening rough spots and calluses, too.

Pictured: Newest Roller Massager Aqua Therapy Foot Bath Spa ($299.99); or shop similar styles here.

Foot-massage balls

Just because a foot-massage ball is simple, doesn't mean it can't deliver some serious relief. Plus, it's small, portable, and can be used on virtually any body part, including the back, legs, and neck. If you're looking for something you can travel with, then this is the best foot massager for you.

Pictured: Due North Foot Rubz Massage Ball ($5.49); or shop similar styles here.

Massaging shoe inserts

These shoe inserts can be worn all day to help stop aches before they begin. The magnetic rollers are placed at specific foot pressure points, which allows them to massage feet while boosting circulation.

Pictured: Adjustable Magnetic Shoe Inserts ($15.99); or shop similar styles here.

Massaging foot rollers

These rollers work similar to massage balls in that they are designed to stimulate acupressure points on the feet and are small and easy to use. The roller's oblong shape makes it easy to store under a couch or in an end-table drawer so it's always ready to be used.

Pictured: Handheld Acupressure Wooden Foot Roller and Pain Relief Massager ($59.58); or shop similar styles here.