Suggest Treatment For Numbness In Limbs And Inability To Sleep

I've been dealing with weak, jumpy, heavy feeling legs, along with numb limbs and the inability to sleep for over 3 years. I'm waking up with theses issues every hour or so and recently I'm told that I'm twitching and jumping while asleep, as well as acting out my dreams. I've seen multiple doctors and they say everything checks out normal. What is my next option? I'm getting worse and feel extremely frustrated. Thank you for you advice.