I love the Philosophy salt scrubs too, after you use them your skin is super soft. I also use Lush Ocean Salt, this was a bit more abrasive, in my opinion, than the Philosophy scrubs, but didn't irritate my skin at all.
Bath and Body Works "There's the Rub". This works great on legs - if I want to make sure I don't get ingrown hairs after shaving I use this on my legs daily. It is quite harsh, though, so I would recommend using it only sparingly on the arms, and not at all on the torso.