What causes muscle tensing in hands and feet when using other muscles in the body?

When I walk some of my fingers involuntarily curl in, primarily my pinky and ring fingers on my right hand. When preforming tasks with my hands my right foot tends to pull inward at the ankle. I'm 23 years old and I have suffered from essential tremor for as long as I can remember. Might it be related? I'm asking this because when walking my right ankle has begun to pull inward which is causing a bizarre gait. I've spoken with my doctor, who hasn't persued it but doesn't seem too concerned. Any input from someone with medical experience would be greatly appreciated.