I am very hands on with my uro, and he has grown to like me alot. First step is to make sure that enough of his cage is covered, three sides. This way, he only has to think about what is happening outside his cage on one side. Second, when you feed him, make sure he sees YOU with the food. Approach slowly, and show him the food through the glass before you reach in and place it in the tank. Also, keep trying with the hand fed treats. Make sure that you move slowly and that he sees your hand with the dandilion, or other large treat, through the glass BEFORE you reach in and hand it to him. Keep in mind, many of their natural predators, like birds, attack form the sky, so many uros are scared of something appearing from above.
Lastly, where is the tank in your house? We have Batista in a room that is not overly active/loud all the time, but still has people in it every day. When he sees calm people on a daily basis, he will eventually accept you. Good luck and I'm sure he'll come around.