What is wrong with my hands? Please help.

At night my hands become stiff and sometimes fall asleep. In the morning, they are so stiff I cant close my fists and can only go so far without pain. I have to pincher like grab anything until I get my hands under warm water or my blood circulating or something. During the day, they are usually fine with the exception of every now and then when I close my hand, it feels like my bones popping from the sockets. My doc said carpal tunnel and sent me to a specialist who had me do a nerve study that told me my nerves were normal and I dont have carpal tunnel. Before this they offered that I could do bloodwork ro see if I have rhumetoid arthritis. The results were negtive. What is wrong with me?