Welcome to the forums,
It sounds like you are doing everything just right and I'm surprised/impressed that you've done as much as you have with a 16 year old bird who has never been handled. I suspect if you keep working patiently as you already have you will get him to love to be pet/scratched - give it time.
Be sure to reward him - either calm praise or the occasional good treat when he lets you touch him - but only when he is calm. For example, with the beak or foot thing, do it just as you have been doing. He tenses up at first, but tolerates it; then you wait, when he relaxes a bit while you are still touching his foot then praise or give a treat and let him go on his way if he chooses. You want him to not only learn that nothing bad happens when you touch him but actually good things do.
All in all though it sounds like you're doing everything just right - keep it up.