Disability support (financial, care workers, mobility equipment, etc) as a basic human right, available to anyone who requests it. Sure, rich people will abuse this. But does it really matter?
Reorganization of the social security budget. Keep it the same, but instead of 90% going to enforcement and 10% going to disabled people, reverse these priorities
Separation of work and disability support
Just because you can do some kinds of work, sometimes, doesn't mean you don't need support, always
Just because you cannot do any kind of work, ever, does not mean that you should be forced to live at 50% of poverty level for your entire life, not be allowed to get married, etc