For below the waist, there's a bunch of great body weight exercises and stretches that help pull the load off the ankles, knees, hips. Idk upper, but for lower don't be sleeping on heel and toe raises, leg lifts, squats, sit-stand, dead bug, etc, and make sure knees are always at least slightly bent
For upper, I've no PT information but it stands to reason that the same ideas should work. Low load exercises that specifically fatigue the muscles, especially where the muscle fatigue tempts you to lock the joint. Goal is to make those muscles ready to do all the work in your daily life.
Lighter weights for more reps and sets is what works best for me, plus supports/ wraps for the most weakest joints. My left wrist I have to tape up and wear a wrist support guard to keep it stable
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