Have you by any chance seen a chiropractor about the impingement? I had a bad muscle spasm a few years ago that caused similar numbness and the chiro was able to resolve it within a couple of sessions. I still see him regularly to maintain the spinal issues that caused the spasm and it's made a huge difference in my shoulders and back.
Pilates might be a gentle way to begin getting back into exercise, since it's flowing, non-strenuous movement. But make sure you get a dvd/book/whatever that includes modifications in case it stresses your neck, shoulders or back.



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