Require DWP assessments for disabled people to take place in hospitals by doctor

I’ve been disabled for over 10 years and in my experience, DWP are rude on the phone and there is no care for the individual. I felt humiliated by the assessor who wouldn't even open a door for me. Despite clearly seeing that you’re ill, they try to make you bend, touch your toes, and lean forward which is so humiliating for people. They even look to see if you’ve got nail polish on and whether your clothes are clean. This humiliating process has to stop.