RLS (also known as Willis-Ekbom Disease) is a neurological disorder seriously affecting 5 million people in the US. It's characterized by "throbbing, pulling, creeping, or other unpleasant sensations in the legs and an uncontrollable, sometimes overwhelming urge to move them." For more, see NINDS description at this link. You can listen to my anguish in this poem, "Maybe Tonight Will Be Different".
Here are a couple of other, less angsty poems about RLS: Midnight, and Restless Leg.