Welcome! If you've come here directly from the pages of Solo Training, then you should be pretty well oriented already. But if you're new here, this is the resources page from the meditation chapter of my book The Windsor Method: The Principles of Solo Training.
Joint care is really a matter of moving the joint enough, under enough load, and then recovering. I use stretching exercises, weight training, and massage to hit those three things.
Here's an example, knee massage:
You can find a thorough system for working on your arms and legs in my free Human Maintenance bundle, here.
And there is much more material included in my full Solo Training course, which is included in the Swordschool Online membership package. Use this link to get a 50% discount off the first month: guywindsor.net/solo50