Talk to the motorist's insurance co - this info should have been provided by motorist to police, and included in report. That's the normal channel for auto crashes. If the best offer you can wrangle out of them for property, medical costs and compensation for lost wages is inadequate, then find a lawyer.
Probably >90% of "fender-benders" are resolved without legal action.
There's no need to talk to the motorist.
Most reputable auto insurance cos are eager to resolve these cases in a reasonably fair way without going to court. I think you'll find the insurance co. rep to be real happy you didn't go straight to an attorney to try to get an exorbitant settlement.
I was hit in a similar accident, motorists ins co treated me fair.
You're probably screwed if the motorist is uninsured - if they can't afford ins, then they probably have nothing for you to take in court.
If your foot/knee injuries are permanent, you should consider more aggressive action.