Oh, you dont need gear to work out or stretch
Pull-ups are good for you, if your shoulder can take it. As is push-ups, handstands and other pulls and presses. All kind of progressions are available and they will stabilize your joints in a way machines never will. These basic calisthenic workouts are not marketed becouse there is very little money to be made from them, but I think they are superior for health and fitness.
Glucosamine Chondroitin is a maybe to me, but I am not a doc:
http://www.quackwatch.com/01QuackeryRelatedTopics/DSH/glucosamine.htmlNow look where this thread have gone