I have an elliptical machine at home. I'm not very good about using it, but both my rheumatologist and my neurologist agree that it's a good choice for me. Low impact, good cardiovascular, doesn't 'beat up' my joints. It doesn't solve the weight bearing exercise need, but there are ways to manage that, too. I don't think I'd drag myself to a gym regularly, either. That being said, I also know that warm therapy pools are a good choice for exercise when the joints just won't tolerate much else. Most of us don't have something like that at home, so it means finding a gym or therapy center that has one of those.
"If you trust Google more than you trust your doctor than maybe it's time to switch doctors."