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First & foremost
you are already ahead of the game; your desire to welcome those
with disabilities into your home.
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Try to eliminate
steps with a ramp of some sort. This could be as simple as a
piece of plywood.
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Create smooth
surfaces from the welcome mat at your door to every room in your house
(including the bathroom.)
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Remove small
decorative rugs that someone may slip on or trip over.
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Walk around your
household without lifting your feet to test your floor surfaces.
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Create open spaces,
eliminating furniture that is not essential to the room
(permanent verses temporary is an issue; a visitor or someone
living with you.)
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Bathroom access is
tricky and on an individual basis, depending on who visits you
or is living with you. When in doubt, ask the person with
the disability what they may need. You may or not be able to
meet everyone's specific needs, but provide the best accommodations
you can; a clean open free from clutter space.