After a motorcycle accident in 2002 left Brian McMillan paralyzed from the chest down, able to use only his arms and hands, the beloved loft he shared with his wife became more of a trap than a haven.

So they gave up the loft and, working closely with a local design/build company, had a 2,600-square-foot, two-story (plus unfinished basement) home built on a wedge-shaped lot in one of Kansas City, Mo.’s historic neighborhoods. While nothing about the home’s exterior tips off an onlooker that it was designed to foster the independence of its wheelchair-bound owner, that’s exactly what it does.

Operating always from a seated position, accessibility and operability are key for McMillan. Here are some of the ways his house works for him.