My Husband Is HIV(27 Yrs Since Diagnois)currently Un-detectable.Since Last May

my husband is HIV(27 yrs since diagnois)currently un-detectable.Since last May he began walking'robotic',he has broken both hips preiously so we thought that was the cause.After 2 neurologist,1 neurosurgeon and his primary care Dr.he remains un-diagnoised.They have tried muscle relaxers(3 different types),physical therapy...he has had adverse reactions and last night we were at the ER because he became so ridgid I had to do something,they gae him 10 mg.of valium and within 20 minutes his leg and toes un curled and he had some relief...we called his Dr. and told him and was told he would not prescribe valium to him....my husband is NOT a drug addict,he is so depressed and all he wants is to stand on his on,any suggestions??