Ever see him wrap his feet around chairlegs/each other?
I'm doing that right now, typing is actually a stim relief for me, probably why I have over 40,000 posts on various message boards, and far more time spent in chatrooms/messenger/online game chats.
My girlfriend went off a very expensive med once, Abilify.
It helps her Zoloft work better, but we couldn't afford it for a while, and without telling anyone she let the prescrip lapse to try and be noble.
All of a sudden I notice she's getting stim urges, because she's tensing up and gritting her teeth, I told her to flap/writhe around, gave her a rolled up t-shirt to bite, a couple balled up socks to squeeze.
After a few minutes she tells me she feels immensely better, later she said it was the first time she felt I really empathized with her.
Stim urges are kinda like static in your head, if you ignore it, it gets louder, and louder, AND LOUDER, AND LOUDER, AND EVENTUALLY YOU CAN'T EVEN THINK FOR ALL THE NOISE, AND IT JUST KEEPS THRUMMING AND BUZZING AND PUSHING TIL YOU SNAP AND FREAK OUT...
Most people figure out how to channel the static outward, when you see him tensing up, see if you can get him to imitate you and flap your hands, roll your feet around at the ankle, work your jaw around like you're saying "oooh-eee-aaaa-oooh-weeee-oooo", see what helps him relax the most.
Give him a squeeze ball, a coin to rub, a stick to bend, all sorts of things, encourage him to let the stim urges out in a non-destructive manner, he'll feel better.
The tensing is something that we have to train ourselves to notice, and it is WAY worse for some people than others. My calf muscles are as hard as iron from doing this most of my life.