We get this all the time up here in Montreal.
I just make sure that the motor is running with the defroster at max, and use the scraper to work around them, without directly slashing at the rubber. Eventually by scraping the ice along them, and sort of banking on the support stem with my hand (not excessively hard), they will get freed up. It is a good idea to look in to having the heavy duty winter type wipers for your car. The summer ones are not very good, especially in the winter time. The winter ones are very heavy duty, and are worth the extra cost. They will also clean the snow off the windscreen while driving on the highway during a snow storm.
Before using the wipers on any car during the winter, make sure that the windscreen is clean from frozen snow and ice. This can put excessive resistance on the wiper motor, wiper gearbox, and arm assemblies. If you are lazy to clean the snow and ice off the windows manually before using the wipers, you may shortly find yourself replacing a lot of parts.