stiff hands and feet

So I developed numbness in my hands and feet one night like when you cut off the circulation. Every since that happened I have stiff hands and feet...sometimes my knees. Mostly on my right side. Its not painful except sometimes the bottom of my feet ache. So my feet don't bend when I walk like they used to, (but are ok when I get them moving), and my fingers don't grip like they used to. Its like when you freeze your fingers and can't make a fist. They aren't cold. They don't look different. Doctor did some tests and they were negative. So any ideas besides arthritis? They don't seem swollen.