The hazard in the road is that a ramp, grab bars, and door levers seem to be the focus; 'Universal Design'. Certainly, these are frequently necessary, but are not the whole story. Universal design must be used in conjunction with a clear understanding of a person's current physical limitations and probable future limitations. Design and location of stuff like:
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The key to success is truly understanding a person's limitations. Sometimes, that means that you have to look reality in the eye. This is frequently difficult. Honest answers to questions like what can I do? / What can't I do? / What is realistic for me to do? / are challenging. Add to that the unpredictability factor of our changing abilities and you realize that easy home modifications are not so easy.
Speak with Occupational and Physical Therapists, nurses, and especially people with similar challenges. The seemingly small details will make a huge difference. Making your home truly accessible is possible with a good, honest assessment of a person's needs. Money will help, too!