There is an organisation called the The Outsiders Trust that promotes sexual freedom for disabled people. From one of their websites:
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The Outsiders Trust also offers support on relationships, sexuality, dating and sexual services,
to all disabled people and a wide range of their therapists and health and social care professionals.
This work is featured widely in Jessica Kingsley’s book Supporting Disabled People with their Sexual Lives.
We offer all this for free: on the Sex and Disability Helpline, SHADA, SHADA International, the TLC website, and the Sexual Respect Tool Kit.
Outsiders runs the School of Sex for Disabled People so that people with disabilities can better enjoy their own bodies and sex with partners.
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Educating carers and other therapists is a major part of their work.