It often feels easier to do it yourself than to work regularly for a long term goal of independence or at least less dependency. But that strategy doesn't reduce the stress for the injured individual or for the family. Many family members have explored or even participated in newly-developed cognitive retraining programs. They usually begin with a detailed analysis of the person's current capabilities and limitations. From this analysis the treatment program is developed and the progressive steps toward increased independence are outlined.
Families can do the same kind of analysis.
Start with your stress list. Pick the 5 most stressful situations which require that something be done for or to the injured individual. That person may well have very good ideas of how the task could be accomplished more independently. Change the time at which the task is done. If fatigue is a problem, for example, switch the task to an earlier time in the day or after a rest period.