This tweet by @ZebraFinch reminds me how frustrating it can be when one has to rely upon others to move through their day. When someone struggles with mobility, it is tough enough to get through the day independently. I know that, for myself, unless it is absolutely necessary, I don't ask for help.
I'm reminded of a recent interaction in a health food store. I was thirsty after my dog walk, so I stopped to buy a bottle of water. When I asked the salesperson for help to open it, she just said, "Well, it's easy." I then showed her my hands and said that it's not when you have rheumatoid arthritis.
Sensitivity Training may go a long way to helping people who need help move through their day.