Have you ever thought of a few days cruise where you can use a wheel chair, I have seen quite a number of people who suffer pain and disabilities on these cruises, I am sure your Husband would be happy to go on one with you and if he wanted to go ashore he would be free to do so while you could stay on board and chat to other people. My knees and
hips do not work too well and if I do not feel like going ashore my friend goes off to explore.Think about it as you would find it very relaxing.