What if my husband won’t give me an uncontested divorce?

I want to divorce my husband, he’s been physically and emotionally abusive to me for years. Our children are grown and there is nothing financially to fight over. I don’t want anything from him and my family will help support me and get me back on my feet once this marriage is over. However, my husband says he will never agree to a divorce. Under Jewish law, only he can give me the get and if he doesn’t, I have to stay married to him. Can a Jewish lawyer do something to require him to agree to an uncontested divorce, and if still won’t, how do I get out of this marriage? I fear for my safety from him at this point.