Lonely and Without Hope

I've been so lonely lately that I just can't take it.  I've been terribly weak almost every day and the weakness makes it painful just to move.  I haven't been able to help out around the house and this makes me feel so guilty because my mom has been doing all the cooking, cleaning, dishes, and laundry.  Her pain is so severe that she shouldn't be the one doing all these chores and yet there's nobody else who she can rely on.  I feel like such a burden and it's embarrassing - I'm 28 years old and have to live at home with my mother because I can't take care of myself.  She even has to drive me to my doctor's appointments because I'm too scared to get my license.  I've offered to take cabs to give her a break from driving, but she always refuses and says it's too expensive.  To be honest, I've never actually taken a cab before so I've asked her to come with me when I do take one for the first time.  I'm sure this sounds ridiculous for someone my age, but I'm not just anxious about taking a cab; I'm scared to go somewhere farther than walking distance alone.
I don't want to be this dependant on my mom.  I want to be able to help her and not just with laundry, dishes, or grocery money.  I want to be able to afford the repairs our house needs, and anything else that would give us a better life.  I hate myself so much for not being able to earn enough money to support a family.  I'm so useless