Be the Solution: A universal design primer.
“The most attractive designs seamlessly integrate spatial relationships with built-in features and extend the same mindful attention used with interior layouts to the design of the site, building envelope, and mechanical, electrical, and plumbing systems. For example, a ramp added to an older house facilitates entry but may also broadcast the residents’ vulnerability. A better solution consists of gently grading the site to an entry landing flush with floor level.
This article by Debra Pierce in Remodeling includes an interesting idea for an alternative to grab bars around the toilet that might suit some people who really do not want grab bars. See also Invisia bathroom products for more ideas.