Hoop stands are the perfect solution for aching hands (or French Knot practice, where you need 3 hands!).
This Nurge embroidery hoop stand is the most flexible one I've come across so far: it has 6 adjustable joints, to create the perfect stitching angle. Plus, the head rotates 360 degrees - so you can access the back of your work without unclamping the whole hoop!
The hoop stands work as seat embroidery stands (by tucking the base under your legs), or can be set on a table.