I'd very much recommend Boston Classical Soo Bahk Do:

http://www.bcsbd.com/

The classes are pretty intense but it is a very friendly environment and there is never any yelling at students. I believe that you can get a "free sample" one-on-one class with the instructor to see if this is the art for you.

However, the art is very much not like Aikido, in that it involves a lot of hand and foot strikes, although it does involve some grappling as well as slow, almost Tai Chi like movements as you go up in rank.