Many people in receipt of an adult social care package who are on benefits will have to make a contribution towards their care package. However, you may be able to offset some or all of your disability related expenses against your contribution.
This link takes you to the government website for the care and support statutory guidance around the Care Act - specifically to the social care charging and financial assessments part. It is a lengthy document and this document goes on to highlight sections that might be of particular interest when considering disability related expenses (DRE).